{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 93,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "1675 1675\n",
      "[[553567 555241]]\n",
      "{'calvin_scene_D': [553567, 555241]}\n",
      "{'robot_obs': [{'_target_': 'calvin_agent.utils.transforms.NormalizeVector', 'mean': [0.039233, -0.118554, 0.507826, 1.079174, -0.083069, 1.579753, 0.054622, -0.736859, 1.017769, 1.792879, -2.099604, -0.993738, 1.790842, 0.586534, 0.095367], 'std': [0.150769, 0.1104, 0.06253, 2.883517, 0.126405, 0.377196, 0.030152, 0.334392, 0.172714, 0.240513, 0.3842, 0.198596, 0.158712, 0.346865, 0.995442]}], 'scene_obs': [{'_target_': 'calvin_agent.utils.transforms.NormalizeVector', 'mean': [0.150934, 0.119917, 0.000239, 0.042049, 0.487755, 0.47448, 0.057482, -0.088074, 0.431237, 0.046034, 0.030599, 0.027333, 0.062103, -0.092833, 0.430236, -0.054962, 0.019381, 0.096546, 0.064944, -0.093058, 0.428381, 0.024941, 0.002746, -0.031589], 'std': [0.125757, 0.09654, 0.002148, 0.041916, 0.49985, 0.499348, 0.146225, 0.119266, 0.050408, 1.430807, 0.676023, 2.017468, 0.142979, 0.113236, 0.049651, 1.545888, 0.3906, 1.763569, 0.143077, 0.11546, 0.050363, 1.514873, 0.431664, 1.860245]}], 'act_min_bound': [-0.432188, -0.545456, 0.293439, -3.141593, -0.811348, -3.141573, -1.0], 'act_max_bound': [0.42977, 0.139396, 0.796262, 3.141592, 0.638583, 3.141551, 1.0]}\n"
     ]
    }
   ],
   "source": [
    "import numpy as np\n",
    "file = 'data/calvin_debug_dataset/validation/episode_0553567.npz'\n",
    "data = np.load(file)\n",
    "# episode_0553567 -> episode_0555241\n",
    "file = 'data/calvin_debug_dataset/validation/ep_lens.npy'\n",
    "ep_lens = np.load(file, allow_pickle=True).item()\n",
    "print(ep_lens, 555241-553567+1)\n",
    "file = 'data/calvin_debug_dataset/validation/ep_start_end_ids.npy'\n",
    "ep_start_end_ids = np.load(file)\n",
    "print(ep_start_end_ids)\n",
    "file = 'data/calvin_debug_dataset/validation/scene_info.npy'\n",
    "scene_info = np.load(file, allow_pickle=True).item()\n",
    "print(scene_info)\n",
    "import yaml\n",
    "file = 'data/calvin_debug_dataset/validation/statistics.yaml'\n",
    "with open(file, 'r') as file:\n",
    "    statistics = yaml.safe_load(file)\n",
    "print(statistics)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 23,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  2.08455938e-17\n",
      "  0.00000000e+00  0.00000000e+00 -2.45257510e-01 -7.18009978e-02\n",
      "  4.59967072e-01 -1.48989150e-03 -6.60164534e-04  1.83724840e+00\n",
      " -4.57917494e-03  1.04477298e-01  4.60990053e-01 -1.23518223e-06\n",
      " -3.19198304e-06  2.08586750e+00  6.86276189e-02  8.52458669e-02\n",
      "  4.60989983e-01  2.27054509e-08 -3.67565670e-06  1.55915491e+00] 24\n",
      "[-0.03878174 -0.07087735  0.57556305  3.07373967 -0.10201585  1.55590555\n",
      "  0.07999659 -0.76731648  0.94720611  2.00931699 -2.21826016 -0.90106061\n",
      "  1.74969564  0.80804046  1.        ] 15\n",
      "[-0.02706343 -0.07078591  0.5760694   3.07513196 -0.10462246  1.53198487\n",
      "  1.        ]\n"
     ]
    },
    {
     "data": {
      "text/plain": [
       "<matplotlib.image.AxesImage at 0x7fcce5fec460>"
      ]
     },
     "execution_count": 23,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "image/png": "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",
      "text/plain": [
       "<Figure size 640x480 with 4 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "rgb_static = data['rgb_static.npy']  \n",
    "print(rgb_static.shape)\n",
    "rgb_gripper = data['rgb_gripper.npy']  \n",
    "print(rgb_gripper.shape)\n",
    "depth_static = data['depth_static.npy']  \n",
    "print(depth_static.shape)\n",
    "depth_gripper = data['depth_gripper.npy']  \n",
    "print(depth_gripper.shape)\n",
    "scene_obs = data['scene_obs.npy']\n",
    "print(scene_obs, len(scene_obs))\n",
    "robot_obs = data['robot_obs.npy']\n",
    "print(robot_obs, len(robot_obs))\n",
    "actions = data['actions.npy']\n",
    "print(actions)\n",
    "import numpy as np\n",
    "import matplotlib.pyplot as plt\n",
    "plt.subplot(2, 2, 1)\n",
    "plt.imshow(rgb_static)\n",
    "plt.subplot(2, 2, 2)\n",
    "plt.imshow(rgb_gripper)  \n",
    "plt.subplot(2, 2, 3)\n",
    "plt.imshow(depth_static)\n",
    "plt.subplot(2, 2, 4)\n",
    "plt.imshow(depth_gripper)  \n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 60,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "<class 'dict'> dict_keys(['language', 'info'])\n",
      "dict_keys(['ann', 'task', 'emb'])\n",
      "dict_keys(['episodes', 'indx'])\n"
     ]
    }
   ],
   "source": [
    "file = 'data/calvin_debug_dataset/validation/lang_annotations/auto_lang_ann.npy'\n",
    "auto_lang_ann_data = np.load(file, allow_pickle=True).item()\n",
    "print(type(auto_lang_ann_data), auto_lang_ann_data.keys())\n",
    "print(auto_lang_ann_data['language'].keys())\n",
    "print(auto_lang_ann_data['info'].keys())\n",
    "# print(auto_lang_ann_data)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 67,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "{'episodes': [],\n",
       " 'indx': [(554046, 554110),\n",
       "  (553636, 553700),\n",
       "  (553693, 553757),\n",
       "  (553691, 553755),\n",
       "  (554474, 554538),\n",
       "  (554110, 554145),\n",
       "  (553916, 553961),\n",
       "  (553701, 553765)]}"
      ]
     },
     "execution_count": 67,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "auto_lang_ann_data['info']"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 68,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "['lift the red block from the table',\n",
       " 'turn on the light bulb',\n",
       " 'in the slider pick up the blue block',\n",
       " 'in the cabinet grasp the blue block',\n",
       " 'slide down the switch',\n",
       " 'put it in the slider',\n",
       " 'slide right the pink block',\n",
       " 'in the slider grasp the blue block']"
      ]
     },
     "execution_count": 68,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "auto_lang_ann_data['language']['ann']"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 70,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "['lift_red_block_table',\n",
       " 'turn_on_lightbulb',\n",
       " 'lift_blue_block_slider',\n",
       " 'lift_blue_block_slider',\n",
       " 'turn_off_lightbulb',\n",
       " 'place_in_slider',\n",
       " 'push_pink_block_right',\n",
       " 'lift_blue_block_slider']"
      ]
     },
     "execution_count": 70,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "auto_lang_ann_data['language']['task']"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 73,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([-0.10262151, -0.01582093,  0.3628564 ,  0.14941287, -0.24244097,\n",
       "        0.06823261,  0.11539541,  0.14048113, -0.1038044 , -0.12110276,\n",
       "       -0.03944368,  0.62636274, -0.07301079, -0.5608976 ,  0.1819355 ,\n",
       "       -0.2018984 , -0.2175313 ,  0.31015074, -0.45562845,  0.26204702,\n",
       "        0.19873267,  0.13902491, -0.07073657,  0.2653129 ,  0.00714668,\n",
       "        0.2114501 ,  0.12421417, -0.44128913,  0.25567418, -0.21390262,\n",
       "        0.06468369, -0.03229345, -0.22138807,  0.14548516,  0.02478056,\n",
       "        0.0568842 ,  0.09550373, -0.28717196,  0.30953702,  0.22635208,\n",
       "       -0.12325452, -0.18954259, -0.07199509, -0.18939722, -0.16836214,\n",
       "        0.6103365 ,  0.45807302, -0.07679593,  0.19222325, -0.16938126,\n",
       "       -0.48750246,  0.16693106, -0.15991394,  0.22536421, -0.4957646 ,\n",
       "        0.1869247 ,  0.21211904, -0.07680469,  0.71547675, -0.35131073,\n",
       "        0.13397582, -0.04868115,  0.09525935,  0.2760032 ,  0.12030726,\n",
       "       -0.09600901,  0.05181433,  0.11935464, -0.20394702,  0.13017426,\n",
       "       -0.05708434,  0.3280743 , -0.4118599 , -0.0024856 ,  0.18454586,\n",
       "        0.14066386, -0.6207286 , -0.49880728, -0.270669  ,  0.24936655,\n",
       "       -0.16892137,  0.03323418,  0.00644189, -0.2122227 , -0.06436788,\n",
       "        0.16183496, -0.12050108, -0.16175006,  0.02595291, -0.2143508 ,\n",
       "        0.28663787,  0.34031662, -0.1063761 ,  0.10715578, -0.3327042 ,\n",
       "       -0.5700804 , -0.07593968, -0.2934922 ,  0.25203907,  0.32158247,\n",
       "       -0.22358857,  0.08447649, -0.03257856, -0.44889796, -0.12817866,\n",
       "       -0.35797447, -0.18665208,  0.14369018, -0.05348118, -0.17009817,\n",
       "       -0.21592385,  0.24716902, -0.18015112, -0.23997222, -0.12528878,\n",
       "        0.2586003 ,  0.04981882, -0.42668927,  0.05060532, -0.42478478,\n",
       "        0.010848  ,  0.27838966,  0.29333052, -0.04077613, -0.31543723,\n",
       "       -0.05895662,  0.0398635 , -0.17126955,  0.03152808, -0.06148052,\n",
       "       -0.26598167, -0.06397837,  0.17440946,  0.13282996, -0.05687309,\n",
       "       -0.07246831, -0.46354425,  0.19760549,  0.1758612 ,  0.18865702,\n",
       "        0.3893846 , -0.33351272, -0.15217596, -0.07175378,  0.14923131,\n",
       "       -0.21403964, -0.09014355, -0.09816017, -0.04549525,  0.06477255,\n",
       "        0.14695768,  0.32194793,  0.22674567,  0.1769105 , -0.8617122 ,\n",
       "        0.08832337, -0.62937045,  0.2943539 ,  0.10738216, -0.04412188,\n",
       "       -0.45804384, -0.07217324,  0.02707928,  0.2830995 ,  0.11246523,\n",
       "       -0.52981925,  0.05117138, -0.16306922, -0.04876965, -0.09975889,\n",
       "        0.06479435, -0.07672993,  0.27276602,  0.32752976,  0.12667237,\n",
       "        0.09137706, -0.39404264, -0.19428124, -0.21865705, -0.29197928,\n",
       "       -0.01947461,  0.02324199,  0.25581166,  0.41531497,  0.34256285,\n",
       "       -0.285205  ,  0.21438111,  0.14089824,  0.09249416,  0.14953358,\n",
       "        0.13405824,  0.2936361 , -0.10994163,  0.3220581 , -0.0823477 ,\n",
       "        0.04723673,  0.5484775 , -0.52879924,  0.23944837,  0.25165278,\n",
       "        0.589626  ,  0.15941194, -0.1726573 ,  0.57903945, -0.30195877,\n",
       "       -0.1636254 , -0.34869468, -0.72047395, -0.08660126,  0.5990876 ,\n",
       "        0.3369149 ,  0.22829169,  0.22209805, -0.09903014,  0.06625755,\n",
       "        0.2595753 , -0.03514629, -0.0574635 , -0.7162943 , -0.21003376,\n",
       "        0.05667462, -0.1360724 ,  0.3237327 , -0.35538197,  0.07900587,\n",
       "       -0.04763956, -0.31165606, -0.10589393, -0.37405065,  0.11281303,\n",
       "        0.03851863, -0.16770972,  0.21977268,  0.22775418, -0.4899903 ,\n",
       "        0.28048378, -0.00217079, -0.14942192,  0.16171351, -0.48690093,\n",
       "        0.02814129,  0.00546092, -0.2479704 ,  0.5215539 , -0.07446972,\n",
       "        0.28017604, -0.11568158,  0.46323967,  0.11601233,  0.53699183,\n",
       "        0.05818159,  0.162144  ,  0.24055341,  0.39281565,  0.13736373,\n",
       "       -0.31417874, -0.17542432, -0.10290118, -0.08349674,  0.00544532,\n",
       "       -0.1054953 ,  0.5291369 ,  0.18527065,  0.3599408 ,  0.25107363,\n",
       "       -0.33989245,  0.19858816,  0.37396422, -0.27189267,  0.38377672,\n",
       "       -0.36998367,  0.08290663, -0.01568072, -0.3415047 ,  0.18368538,\n",
       "       -0.5271436 ,  0.39909288, -0.28825176,  0.29408902,  0.44547763,\n",
       "       -0.03806535,  0.3448053 , -0.04033621, -0.15483345, -0.2009444 ,\n",
       "       -0.00786109, -0.28845623,  0.02867146,  0.29074875,  0.07761306,\n",
       "        0.11547988, -0.34985662, -0.03670682, -0.53430176, -0.03351086,\n",
       "        0.09138667,  0.27373442, -0.2034831 , -0.21501096,  0.06187828,\n",
       "        0.3143246 ,  0.20833534,  0.36832255, -0.07817171, -0.29798183,\n",
       "        0.1704965 , -0.17575967, -0.29653603,  0.22047956, -0.4060777 ,\n",
       "        0.10286237, -0.01819742, -0.52519906, -0.13945481,  0.16705436,\n",
       "        0.21173702,  0.27907392,  0.42806557,  0.20979136, -0.06125627,\n",
       "       -0.13815258,  0.22457844,  0.18220986, -0.6030929 , -0.4113673 ,\n",
       "       -0.15378696,  0.05868283, -0.06861524, -0.261303  , -0.32597032,\n",
       "       -0.2880115 ,  0.07578065,  0.48535025,  0.326619  , -0.07364509,\n",
       "       -0.07225519, -0.28437078,  0.10098422, -0.20945321, -0.2960092 ,\n",
       "        0.3320445 ,  0.21489358,  0.12049874, -0.15070745, -0.21833465,\n",
       "       -0.27748007, -0.09770223, -0.05931995,  0.00659391, -0.2627285 ,\n",
       "       -0.29547843, -0.25536454,  0.17395498,  0.16496931,  0.13532081,\n",
       "        0.00569149,  0.03461909, -0.29525858,  0.1581845 , -0.03810454,\n",
       "        0.2971432 ,  0.13143086, -0.10684543,  0.23216207,  0.09451234,\n",
       "       -0.24012963, -0.2607515 ,  0.13274367,  0.00935797,  0.05846551,\n",
       "        0.00475941,  0.39451963,  0.2656396 , -0.01197347,  0.07249418,\n",
       "       -0.28030145,  0.11586474, -0.1113672 , -0.06951545,  0.3236758 ,\n",
       "       -0.27903512,  0.24906808, -0.31504938,  0.5330834 ], dtype=float32)"
      ]
     },
     "execution_count": 73,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "auto_lang_ann_data['language']['emb'].shape\n",
    "auto_lang_ann_data['language']['emb'][0][0]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 81,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "dict_keys(['rotate_red_block_right', 'rotate_red_block_left', 'rotate_blue_block_right', 'rotate_blue_block_left', 'rotate_pink_block_right', 'rotate_pink_block_left', 'push_red_block_right', 'push_red_block_left', 'push_blue_block_right', 'push_blue_block_left', 'push_pink_block_right', 'push_pink_block_left', 'move_slider_left', 'move_slider_right', 'open_drawer', 'close_drawer', 'lift_red_block_table', 'lift_blue_block_table', 'lift_pink_block_table', 'lift_red_block_slider', 'lift_blue_block_slider', 'lift_pink_block_slider', 'lift_red_block_drawer', 'lift_blue_block_drawer', 'lift_pink_block_drawer', 'place_in_slider', 'place_in_drawer', 'push_into_drawer', 'stack_block', 'unstack_block', 'turn_on_lightbulb', 'turn_off_lightbulb', 'turn_on_led', 'turn_off_led'])"
      ]
     },
     "execution_count": 81,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "file = 'data/calvin_debug_dataset/validation/lang_annotations/embeddings.npy'\n",
    "embeddings = np.load(file, allow_pickle=True).item()\n",
    "embeddings.keys()\n",
    "print(embeddings['rotate_red_block_right']['emb'].shape)\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "import os\n",
    "import numpy as np\n",
    "import matplotlib.pyplot as plt\n",
    "file = 'data/calvin_debug_dataset/validation/episode_0553567.npz'\n",
    "def data_vis(file):\n",
    "    data = np.load(file)\n",
    "    rgb_static = data['rgb_static.npy']  \n",
    "    print(rgb_static.shape)\n",
    "    rgb_gripper = data['rgb_gripper.npy']  \n",
    "    print(rgb_gripper.shape)\n",
    "    depth_static = data['depth_static.npy']  \n",
    "    print(depth_static.shape)\n",
    "    depth_gripper = data['depth_gripper.npy']  \n",
    "    print(depth_gripper.shape)\n",
    "    scene_obs = data['scene_obs.npy']\n",
    "    print(scene_obs, len(scene_obs))\n",
    "    robot_obs = data['robot_obs.npy']\n",
    "    print(robot_obs, len(robot_obs))\n",
    "    actions = data['actions.npy']\n",
    "    print(actions)\n",
    "\n",
    "    plt.subplot(2, 2, 1)\n",
    "    plt.imshow(rgb_static)\n",
    "    plt.subplot(2, 2, 2)\n",
    "    plt.imshow(rgb_gripper)  \n",
    "    plt.subplot(2, 2, 3)\n",
    "    plt.imshow(depth_static)\n",
    "    plt.subplot(2, 2, 4)\n",
    "    plt.imshow(depth_gripper)  \n",
    "\n",
    "    file_name = os.path.basename(file)\n",
    "    print(file_name)\n",
    "    plt.savefig('/home/zhangwei/Downloads/test/' + file_name+\".jpg\")\n",
    "\n",
    "data_vis(file)\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 107,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "文件: data/calvin_debug_dataset/validation/episode_0553670.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  3.35090751e-17\n",
      "  0.00000000e+00  0.00000000e+00 -2.45232976e-01 -7.17796184e-02\n",
      "  4.59989176e-01 -2.34285376e-05  4.73850623e-05  1.83724642e+00\n",
      " -4.66640491e-03  1.04639481e-01  4.60893171e-01  3.91459678e-04\n",
      "  9.14605568e-03  2.08580639e+00  2.54335106e-02 -1.03039058e-01\n",
      "  4.59990008e-01  2.77289047e-08 -2.04829553e-08  1.46114331e+00] 24\n",
      "[ 0.24263524 -0.04709262  0.51182644  3.01358408 -0.0191251   1.42169311\n",
      "  0.07999771 -0.23850143  1.01983829  1.41831828 -1.42709614 -1.12141364\n",
      "  1.67783873  0.50388156  1.        ] 15\n",
      "[ 0.25006517 -0.04457657  0.50578138  3.0158051  -0.01140524  1.42582748\n",
      "  1.        ]\n",
      "episode_0553670.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555154.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04241830e-02 -8.73463994e-02\n",
      "  4.59989994e-01 -4.30540856e-05  9.59443109e-06 -2.92825860e+00\n",
      "  2.17498874e-01 -1.80705653e-01  5.05408452e-01 -2.76609437e+00\n",
      " -1.49606502e+00 -1.36263935e-01  3.28651394e-02  8.09748410e-02\n",
      "  4.60988554e-01  9.39703684e-05 -3.57761768e-06  1.80037146e+00] 24\n",
      "[ 0.21532735 -0.17073418  0.50452685  3.10165003  0.03469193  1.64828266\n",
      "  0.04221266 -0.62787765  1.11508619  1.64730639 -1.73973764 -1.16126098\n",
      "  1.56644848  0.26454714 -1.        ] 15\n",
      "[ 0.21426394 -0.17985292  0.50212893  3.09942179  0.04325645  1.64872105\n",
      " -1.        ]\n",
      "episode_0555154.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554384.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01 -1.63609304e-08  1.38695132e-19  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.73239662e-02 -1.01638683e-01\n",
      "  4.59933682e-01  8.88192756e-04 -2.70778998e-03  1.68542961e+00\n",
      "  2.51751138e-01 -1.00275830e-01  3.62349681e-01 -2.10771110e-05\n",
      " -7.37308143e-09  1.31325075e+00  1.48040649e-01 -9.08194426e-02\n",
      "  3.62349984e-01 -1.59732312e-06  1.67510699e-06  1.42848680e+00] 24\n",
      "[-0.12391013 -0.11525956  0.58642313  3.12124816 -0.13201824  1.61112357\n",
      "  0.07999992 -0.94681999  1.05318285  2.232972   -2.44388324 -0.78453595\n",
      "  1.73781822  0.83949386  1.        ] 15\n",
      "[-0.13828696 -0.11647866  0.58513508  3.11077432 -0.13793747  1.63163038\n",
      "  1.        ]\n",
      "episode_0554384.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553641.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  2.99818041e-17\n",
      "  0.00000000e+00  0.00000000e+00 -2.45250364e-01 -7.17951736e-02\n",
      "  4.59973588e-01 -1.06729993e-03 -4.72741875e-04  1.83724796e+00\n",
      " -4.57917463e-03  1.04477297e-01  4.60990053e-01 -1.24710468e-06\n",
      " -3.19580848e-06  2.08586745e+00  2.54313989e-02 -1.03039407e-01\n",
      "  4.59987876e-01 -1.22970245e-04 -8.57134060e-05  1.46114649e+00] 24\n",
      "[ 0.02511413 -0.1248971   0.52349223  3.04893085 -0.0416713   1.45373012\n",
      "  0.07997983 -0.86400798  0.96909726  1.90248362 -2.25753441 -1.00260253\n",
      "  1.76461431  0.79539924  1.        ] 15\n",
      "[ 0.02583799 -0.12392209  0.52964377  3.04034828 -0.05261933  1.44541973\n",
      "  1.        ]\n",
      "episode_0553641.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553748.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80026686e-01  0.00000000e+00  0.00000000e+00  8.80261594e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45232275e-01 -7.17804092e-02\n",
      "  4.59990010e-01 -8.31799922e-10  5.61945305e-10  1.83724642e+00\n",
      " -3.03745616e-03  1.00714313e-01  4.67338933e-01  7.33542392e-03\n",
      " -8.78908477e-03  2.09602298e+00  2.54335101e-02 -1.03039058e-01\n",
      "  4.59990010e-01  2.41020122e-10 -1.31142488e-11  1.46114331e+00] 24\n",
      "[ 6.77328646e-04  9.39439079e-02  4.77383391e-01  3.11926512e+00\n",
      " -1.67371234e-01  1.89656746e+00  4.17998032e-02 -1.52834597e-01\n",
      "  1.17122117e+00  1.59685362e+00 -1.78788266e+00 -1.15104166e+00\n",
      "  1.79863973e+00  5.15908913e-01 -1.00000000e+00] 15\n",
      "[ 2.89158640e-03  8.98813187e-02  4.81830598e-01  3.12458211e+00\n",
      " -1.72032310e-01  1.89018444e+00 -1.00000000e+00]\n",
      "episode_0553748.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553771.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  8.80261594e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45232275e-01 -7.17804092e-02\n",
      "  4.59990010e-01 -8.31718202e-10  5.61886026e-10  1.83724642e+00\n",
      "  1.37678265e-01 -4.98065484e-02  4.99624137e-01  5.99023825e-03\n",
      "  3.29508941e-02  1.89576754e+00  2.54335101e-02 -1.03039058e-01\n",
      "  4.59990010e-01  3.39217981e-10 -1.88208898e-11  1.46114331e+00] 24\n",
      "[ 0.13916896 -0.05650167  0.51040285  3.11392435 -0.1266108   1.70954781\n",
      "  0.04177506 -0.50921702  1.1443179   1.67413268 -1.80920922 -1.11106237\n",
      "  1.7046365   0.39831022 -1.        ] 15\n",
      "[ 0.15037136 -0.06025909  0.50795558  3.10622507 -0.12006385  1.69100589\n",
      " -1.        ]\n",
      "episode_0553771.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555136.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04241024e-02 -8.73454035e-02\n",
      "  4.59990010e-01 -6.64469057e-12  2.13033798e-12 -2.92825767e+00\n",
      "  2.11851175e-01 -6.40709462e-02  4.59634857e-01 -1.65622252e+00\n",
      " -1.56613132e+00 -1.13460749e+00  3.28649353e-02  8.09755337e-02\n",
      "  4.60988341e-01 -6.84462677e-06 -4.82053925e-05  1.80040977e+00] 24\n",
      "[ 0.20886223 -0.0561591   0.45999763  3.02432044  0.04839203  1.73759833\n",
      "  0.04113951 -0.33134204  1.1490651   1.511488   -1.61705218 -1.27992336\n",
      "  1.65532995  0.31259298 -1.        ] 15\n",
      "[ 0.20938165 -0.05610437  0.4582246   3.01697442  0.05261743  1.73098347\n",
      " -1.        ]\n",
      "episode_0555136.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553863.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  1.65030103e-01  0.00000000e+00  8.80009204e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45232476e-01 -7.17802859e-02\n",
      "  4.59989978e-01 -2.35569426e-06 -1.73763168e-06  1.83723127e+00\n",
      "  2.29551514e-01 -6.97474756e-02  4.59990008e-01  1.62321920e-07\n",
      " -2.77674073e-10  1.66629859e+00  2.54334147e-02 -1.03039112e-01\n",
      "  4.59990005e-01 -3.69956050e-07  2.75636506e-09  1.46113869e+00] 24\n",
      "[ 1.82027804e-01 -3.85121778e-01  3.47626332e-01  3.03567059e+00\n",
      " -3.10049501e-02  1.36025118e+00  1.01280552e-06 -1.27157316e+00\n",
      "  1.19079094e+00  1.48684477e+00 -2.27921101e+00 -1.41716386e+00\n",
      "  1.94468337e+00  4.11635565e-01 -1.00000000e+00] 15\n",
      "[ 0.18102243 -0.39395613  0.35037927  3.03837905 -0.03110118  1.35396889\n",
      " -1.        ]\n",
      "episode_0553863.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554816.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12361872e-01  1.25297007e-19  5.86896622e-18\n",
      "  0.00000000e+00  0.00000000e+00  3.74363906e-02 -1.01201067e-01\n",
      "  4.59990004e-01  8.10794794e-07 -1.02796186e-07  1.68554233e+00\n",
      "  2.51678205e-01 -3.06629875e-01  3.62274337e-01 -6.55091902e-04\n",
      " -4.23757829e-03  1.31418541e+00  1.27319687e-01 -1.30700411e-01\n",
      "  5.51476183e-01  3.39067845e-02 -2.54203163e-01  1.59964212e+00] 24\n",
      "[ 0.12759482 -0.13491241  0.5465756  -3.13552613 -0.1383263   1.62939011\n",
      "  0.04038675 -0.77992823  1.04126913  1.77593583 -1.95786599 -0.94580503\n",
      "  1.72367207  0.37486549 -1.        ] 15\n",
      "[ 0.12240248 -0.11561671  0.54935759 -3.13711405 -0.14943407  1.63973425\n",
      " -1.        ]\n",
      "episode_0554816.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554458.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.48543264e-02 -1.57581659e-09  1.38695132e-19  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.74223226e-02 -1.01544056e-01\n",
      "  4.59990009e-01  5.04337091e-08 -2.05421989e-08  1.68543846e+00\n",
      "  2.51752473e-01 -1.00275345e-01  3.62349949e-01 -3.01771661e-06\n",
      "  9.42214889e-07  1.31319945e+00  1.48040732e-01 -9.08196260e-02\n",
      "  3.62349998e-01 -1.36043257e-07  1.07046378e-07  1.42848675e+00] 24\n",
      "[-0.03235099 -0.10003083  0.57391228  3.02485479 -0.27476923  1.39256813\n",
      "  0.0789053  -1.12687034  0.8713167   2.15325379 -2.43980207 -0.85743265\n",
      "  2.05764044  0.88879473  1.        ] 15\n",
      "[-0.02929539 -0.10428712  0.57416401  3.03193861 -0.26520543  1.38507501\n",
      "  1.        ]\n",
      "episode_0554458.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554182.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16608403e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  3.09287321e-02  6.55119115e-02\n",
      "  4.60989717e-01  5.36718516e-06 -3.79872182e-06  1.52058258e+00\n",
      "  2.51943697e-01 -3.07636766e-01  3.62332650e-01 -2.91422736e-05\n",
      "  9.43217223e-04  1.31011540e+00  1.48279726e-01 -2.99583150e-01\n",
      "  3.62349963e-01 -1.91874983e-06  3.38266572e-08  1.43070635e+00] 24\n",
      "[ 0.17276648 -0.45240037  0.42917713  3.02875258  0.01204095  1.50909178\n",
      "  0.07999815 -1.48066413  1.18149016  1.69809562 -2.30352116 -1.29335155\n",
      "  1.80081881  0.11147358  1.        ] 15\n",
      "[ 0.17084951 -0.44939142  0.42240352  3.03115509  0.00736918  1.50749937\n",
      "  1.        ]\n",
      "episode_0554182.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554845.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12362888e-01  1.25297007e-19  9.45406140e-18\n",
      "  0.00000000e+00  0.00000000e+00  3.74363904e-02 -1.01201042e-01\n",
      "  4.59990009e-01  2.04962909e-08 -1.49219087e-08  1.68554222e+00\n",
      "  2.51711620e-01 -3.06551971e-01  3.62349998e-01 -1.11653993e-07\n",
      " -1.34043314e-07  1.31415032e+00  3.28455833e-02  8.10220429e-02\n",
      "  4.60930105e-01 -8.18041057e-05  2.83086602e-04  1.79920167e+00] 24\n",
      "[ 0.03991062  0.05034949  0.50884512 -3.13143777 -0.11123256  1.70957795\n",
      "  0.0799677  -0.24234624  1.02872328  1.58453363 -1.76314438 -1.00020507\n",
      "  1.76540329  0.57171583  1.        ] 15\n",
      "[ 0.04173851  0.04300155  0.51696239 -3.11793988 -0.12568483  1.69783975\n",
      "  1.        ]\n",
      "episode_0554845.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555223.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12191639e-01  1.25297007e-19  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04272325e-02 -8.73488021e-02\n",
      "  4.59989223e-01 -5.44725749e-05 -1.61913871e-06 -2.92827708e+00\n",
      "  2.01103590e-01 -2.94366972e-01  3.62349452e-01  0.00000000e+00\n",
      " -1.57079633e+00  3.47298139e+00  3.28578853e-02  8.09654233e-02\n",
      "  4.60988554e-01  9.39715449e-05 -3.57803453e-06  1.80019274e+00] 24\n",
      "[ 0.18296297 -0.24533084  0.54192328 -3.09665164 -0.05232866  1.38619708\n",
      "  0.07999945 -0.92058231  1.08762389  1.78089786 -1.89861053 -0.9949997\n",
      "  1.57962658  0.43557641  1.        ] 15\n",
      "[ 0.18301246 -0.24138349  0.54509191  3.13478067 -0.0326473   1.38738534\n",
      "  1.        ]\n",
      "episode_0555223.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553872.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16302743e-01  0.00000000e+00  8.80009204e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45235598e-01 -7.17828090e-02\n",
      "  4.59987156e-01 -1.85137709e-04 -8.22502715e-05  1.83723069e+00\n",
      "  2.29552441e-01 -6.97457807e-02  4.59988197e-01  2.46980161e-05\n",
      "  8.31886345e-05  1.66629065e+00  2.54333874e-02 -1.03039105e-01\n",
      "  4.59989989e-01 -1.87895986e-06  6.17154572e-08  1.46113871e+00] 24\n",
      "[ 0.16500813 -0.42108898  0.42141028  3.03785189 -0.11003452  1.34801653\n",
      "  0.07082073 -1.48748614  1.20546488  1.68184607 -2.34710935 -1.27224316\n",
      "  1.89439977  0.30246961  1.        ] 15\n",
      "[ 0.15940463 -0.41730478  0.43797588  3.04510996 -0.12738125  1.35822212\n",
      "  1.        ]\n",
      "episode_0553872.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554909.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12365448e-01  1.25297007e-19  1.73470532e-17\n",
      "  0.00000000e+00  0.00000000e+00  7.21578911e-02 -7.94036816e-02\n",
      "  4.83846463e-01 -5.08281481e-02  2.72647129e-02  2.91698209e+00\n",
      "  2.51711332e-01 -3.06552110e-01  3.62349274e-01  4.58499189e-05\n",
      " -6.86844855e-06  1.31421022e+00  3.28572842e-02  8.10100496e-02\n",
      "  4.60987877e-01  2.85450759e-04 -9.19783019e-07  1.79944378e+00] 24\n",
      "[ 0.06637598 -0.07950497  0.50027118  3.07847904 -0.0254206   2.87710146\n",
      "  0.04027965 -0.60141014  1.20405852  1.7764553  -2.02600428 -1.1378897\n",
      "  1.62323419 -0.62860369 -1.        ] 15\n",
      "[ 0.06793256 -0.07966306  0.49841241  3.06951907 -0.02314068  2.92672422\n",
      " -1.        ]\n",
      "episode_0554909.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554615.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.48543264e-02  6.11981356e-13  9.22482630e-09 -7.50711294e-05\n",
      "  0.00000000e+00  0.00000000e+00  3.74223222e-02 -1.01544055e-01\n",
      "  4.59990010e-01 -6.41935096e-11 -2.28188885e-11  1.68543845e+00\n",
      "  2.51752534e-01 -1.00275374e-01  3.62349999e-01  2.20392785e-12\n",
      " -1.13650743e-13  1.31319892e+00  1.48040739e-01 -9.08196359e-02\n",
      "  3.62349999e-01 -3.62501208e-13 -6.14651070e-14  1.42848667e+00] 24\n",
      "[-0.05348198 -0.11700709  0.57911739  3.11891357 -0.10308682  1.58761374\n",
      "  0.07999694 -0.90088761  1.04586154  2.10229485 -2.31613463 -0.86285751\n",
      "  1.69267447  0.75615311  1.        ] 15\n",
      "[-0.04605793 -0.11376273  0.58081334  3.11081442 -0.10738032  1.56917472\n",
      "  1.        ]\n",
      "episode_0554615.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553712.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  8.80261594e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45232275e-01 -7.17804092e-02\n",
      "  4.59990010e-01 -8.31925875e-10  5.62037845e-10  1.83724642e+00\n",
      " -4.71487074e-03  1.04631346e-01  4.60888096e-01 -1.75275566e-03\n",
      "  9.88591434e-03  2.08546169e+00  2.54335101e-02 -1.03039058e-01\n",
      "  4.59990010e-01  3.39240945e-10 -1.88112847e-11  1.46114331e+00] 24\n",
      "[ 0.16765834 -0.02749223  0.54256152  3.07361964 -0.02296544  1.70918026\n",
      "  0.07999502 -0.3079446   1.07425213  1.62103642 -1.56545912 -1.12560963\n",
      "  1.57208241  0.35711144  1.        ] 15\n",
      "[ 0.15492677 -0.0304432   0.53891575  3.08301936 -0.01725391  1.7248916\n",
      "  1.        ]\n",
      "episode_0553712.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554806.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12359724e-01  1.25297007e-19  4.62574773e-18\n",
      "  0.00000000e+00  0.00000000e+00  3.74361511e-02 -1.01201159e-01\n",
      "  4.59989788e-01 -1.29509517e-05 -5.42615358e-07  1.68554360e+00\n",
      "  2.51691922e-01 -3.06579836e-01  3.62322711e-01 -7.02357355e-04\n",
      " -1.71477941e-03  1.31425814e+00  1.59145100e-01 -2.76867685e-01\n",
      "  4.82669909e-01 -4.34125562e-02 -1.35354083e-01  1.52717304e+00] 24\n",
      "[ 0.15964415 -0.28097941  0.47753632  3.0733696  -0.01680228  1.54646952\n",
      "  0.04038782 -1.1079343   1.07722803  1.74699528 -2.17312755 -1.11995844\n",
      "  1.75915593  0.32076551 -1.        ] 15\n",
      "[ 0.15761201 -0.27249629  0.48674461  3.0814443  -0.02936234  1.55508289\n",
      " -1.        ]\n",
      "episode_0554806.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553928.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16683424e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45233464e-01 -7.17793708e-02\n",
      "  4.59989165e-01 -6.74627573e-05 -3.18292389e-05  1.83720681e+00\n",
      "  2.29570433e-01 -6.97422108e-02  4.59988820e-01 -1.17276890e-05\n",
      "  7.69454054e-05  1.66627244e+00  5.80834706e-02 -1.75786234e-01\n",
      "  5.13068329e-01  7.50349173e-02 -1.20762711e-01  1.51587947e+00] 24\n",
      "[ 0.05804843 -0.16899017  0.51068558 -3.13734563 -0.15792106  1.47614828\n",
      "  0.0408798  -1.05169054  1.01796964  1.86651896 -2.30333664 -0.93534112\n",
      "  1.89266272  0.58338453 -1.        ] 15\n",
      "[ 0.06129576 -0.17943161  0.51124923 -3.13747162 -0.15805321  1.48484764\n",
      " -1.        ]\n",
      "episode_0553928.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553656.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  3.17743517e-17\n",
      "  0.00000000e+00  0.00000000e+00 -2.45232328e-01 -7.17804838e-02\n",
      "  4.59989949e-01 -4.01234711e-06 -1.89769267e-06  1.83724755e+00\n",
      " -4.59185712e-03  1.04567144e-01  4.60943198e-01  1.66512441e-03\n",
      "  4.22513240e-03  2.08588084e+00  2.54278990e-02 -1.03040690e-01\n",
      "  4.59988191e-01 -2.81121029e-04 -1.39204011e-04  1.46114592e+00] 24\n",
      "[ 0.09982878 -0.07829634  0.58229443  3.01250086 -0.16596922  1.37465706\n",
      "  0.07999999 -0.7227549   0.91405198  1.82613223 -1.99298575 -1.00138381\n",
      "  1.80769137  0.77375309  1.        ] 15\n",
      "[ 0.11010335 -0.07428637  0.58025082  3.01417555 -0.1588094   1.3741919\n",
      "  1.        ]\n",
      "episode_0553656.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553637.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  2.94902991e-17\n",
      "  0.00000000e+00  0.00000000e+00 -2.45232256e-01 -7.17804315e-02\n",
      "  4.59990009e-01 -3.57564605e-08 -1.53261222e-08  1.83724814e+00\n",
      " -4.57917460e-03  1.04477298e-01  4.60990053e-01 -1.23027666e-06\n",
      " -3.18657402e-06  2.08586747e+00  2.54534088e-02 -1.03044945e-01\n",
      "  4.59964725e-01  1.02717961e-03 -2.32638806e-04  1.46113560e+00] 24\n",
      "[ 0.02538429 -0.12542168  0.49822628  3.05489415 -0.00775211  1.46924852\n",
      "  0.07942602 -0.83201721  0.9638318   1.8436056  -2.2665514  -1.02644333\n",
      "  1.77721833  0.7897112   1.        ] 15\n",
      "[ 0.02476771 -0.12557788  0.50467688  3.05593509 -0.02178591  1.47014255\n",
      "  1.        ]\n",
      "episode_0553637.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554659.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.17559452e-01  7.84816322e-13  1.25297007e-19 -7.50711294e-05\n",
      "  0.00000000e+00  0.00000000e+00  3.74223222e-02 -1.01544055e-01\n",
      "  4.59990010e-01 -6.41938416e-11 -2.28189603e-11  1.68543845e+00\n",
      "  2.51752534e-01 -1.00275374e-01  3.62349999e-01  2.90110759e-12\n",
      " -1.28449002e-13  1.31319892e+00  1.48040739e-01 -9.08196359e-02\n",
      "  3.62349999e-01 -3.36285615e-13  8.83069775e-15  1.42848667e+00] 24\n",
      "[-0.17152073 -0.02431014  0.5217996   3.12216439 -0.01280708  1.74941387\n",
      "  0.04323348 -0.50577325  0.88282516  1.94111403 -2.30401519 -0.85206168\n",
      "  1.8019455   0.88702026 -1.        ] 15\n",
      "[-0.18157448 -0.02268522  0.52163678  3.11711443 -0.02146402  1.75542072\n",
      " -1.        ]\n",
      "episode_0554659.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554345.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.56877409e-07  1.38695132e-19  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.52690405e-02 -4.74553734e-02\n",
      "  4.92495683e-01  9.50039632e-02 -1.19593195e-02  1.58674838e+00\n",
      "  2.51751247e-01 -1.00275883e-01  3.62349999e-01  8.00888533e-14\n",
      "  1.39203738e-12  1.31324857e+00  1.48040654e-01 -9.08197395e-02\n",
      "  3.62349999e-01 -8.97048548e-10  6.94179815e-10  1.42848714e+00] 24\n",
      "[ 0.03576644 -0.05386302  0.495466   -3.1394883  -0.16374784  1.56434946\n",
      "  0.04117667 -0.66571423  1.01171117  1.72077359 -2.13957763 -1.00111738\n",
      "  1.91331143  0.68159241 -1.        ] 15\n",
      "[ 0.03476303 -0.06265831  0.49415382  3.13370714 -0.1622228   1.57217165\n",
      " -1.        ]\n",
      "episode_0554345.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554561.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.48543264e-02  4.05539596e-13  1.38695132e-19 -7.50711294e-05\n",
      "  0.00000000e+00  1.00000000e+00  3.74223222e-02 -1.01544055e-01\n",
      "  4.59990010e-01 -6.41947770e-11 -2.28191851e-11  1.68543845e+00\n",
      "  2.51752534e-01 -1.00275374e-01  3.62349999e-01  2.20598808e-12\n",
      " -1.14301282e-13  1.31319892e+00  1.48040739e-01 -9.08196359e-02\n",
      "  3.62349999e-01 -3.63186677e-13 -6.19162550e-14  1.42848667e+00] 24\n",
      "[ 0.16542265 -0.07784809  0.56982122 -3.10025077 -0.06476141  1.6604177\n",
      "  0.0799957  -0.4400522   1.06995089  1.69408131 -1.58571916 -1.0001953\n",
      "  1.50856715  0.33001583  1.        ] 15\n",
      "[ 0.15411133 -0.08488279  0.56632127 -3.11275145 -0.0604741   1.68694828\n",
      "  1.        ]\n",
      "episode_0554561.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554966.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  2.43437712e-17\n",
      "  0.00000000e+00  0.00000000e+00  8.53782699e-02 -8.47515907e-02\n",
      "  4.59988810e-01  1.14091559e-04  4.80936950e-06 -3.04751022e+00\n",
      "  2.55759081e-01 -3.01958699e-01  3.79874147e-01 -1.21089710e-02\n",
      " -2.97919266e-02  1.34403925e+00  3.28605664e-02  8.10019245e-02\n",
      "  4.60987877e-01  2.85451024e-04 -9.17201929e-07  1.79968648e+00] 24\n",
      "[ 0.25373447 -0.30921512  0.37999273  3.04395921  0.12754137  1.32374055\n",
      "  0.04042986 -0.82387379  1.07529465  1.40199271 -1.89498548 -1.27296791\n",
      "  1.7807921   0.45261218 -1.        ] 15\n",
      "[ 0.25205139 -0.306733    0.3904286   3.05235861  0.11182209  1.33153333\n",
      " -1.        ]\n",
      "episode_0554966.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554162.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16602031e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  3.09311689e-02  6.55138468e-02\n",
      "  4.60989717e-01  5.37047546e-06 -3.79849883e-06  1.52044304e+00\n",
      "  2.51940465e-01 -3.07649079e-01  3.62348297e-01  9.25609023e-05\n",
      " -7.81520766e-05  1.31014311e+00  1.48276028e-01 -2.99577006e-01\n",
      "  3.62347768e-01 -1.43898516e-04 -7.44512811e-07  1.43071377e+00] 24\n",
      "[ 0.10750448 -0.25598426  0.54922416  3.12408392 -0.14668171  1.52064681\n",
      "  0.08000084 -1.20696117  1.10108992  1.94103002 -2.2253563  -0.93758301\n",
      "  1.72983021  0.36492588  1.        ] 15\n",
      "[ 0.11323002 -0.2722535   0.54588827  3.12715137 -0.13625828  1.51566846\n",
      "  1.        ]\n",
      "episode_0554162.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553862.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  1.55467062e-01  0.00000000e+00  8.80009204e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45232459e-01 -7.17802600e-02\n",
      "  4.59989996e-01 -1.01103110e-06 -5.48380371e-07  1.83723137e+00\n",
      "  2.29551512e-01 -6.97474758e-02  4.59990009e-01  5.40185191e-08\n",
      "  1.37602655e-10  1.66629859e+00  2.54334190e-02 -1.03039112e-01\n",
      "  4.59990008e-01 -1.38420501e-07  7.86024634e-09  1.46113869e+00] 24\n",
      "[ 1.83150757e-01 -3.71424807e-01  3.44243892e-01  3.02968338e+00\n",
      " -3.22708946e-02  1.37085126e+00  8.63128392e-07 -1.23649247e+00\n",
      "  1.19302632e+00  1.47609878e+00 -2.27255927e+00 -1.43051578e+00\n",
      "  1.95160647e+00  4.30670419e-01 -1.00000000e+00] 15\n",
      "[ 0.1820278  -0.38512178  0.34762633  3.03567059 -0.03100495  1.36025118\n",
      " -1.        ]\n",
      "episode_0553862.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554323.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.56872931e-07  2.39383565e-18  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.09260177e-02  6.55484440e-02\n",
      "  4.60979360e-01 -3.24588600e-05 -4.12634632e-04  1.52078278e+00\n",
      "  2.51751247e-01 -1.00275883e-01  3.62349999e-01  1.18312743e-09\n",
      "  4.36305596e-11  1.31324857e+00  1.48040654e-01 -9.08197395e-02\n",
      "  3.62349999e-01 -9.11330509e-10  6.61804134e-10  1.42848714e+00] 24\n",
      "[ 0.0292517   0.04581249  0.48414391  3.04983761 -0.19410304  1.55000091\n",
      "  0.07999895 -0.34410692  0.9214181   1.54239144 -1.97316648 -1.06827026\n",
      "  2.02403656  0.81764698  1.        ] 15\n",
      "[ 0.02894177  0.04872186  0.48082964  3.04516725 -0.189317    1.55044\n",
      "  1.        ]\n",
      "episode_0554323.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554556.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.48543264e-02  3.86464639e-13  1.38695132e-19 -7.50711294e-05\n",
      "  0.00000000e+00  1.00000000e+00  3.74223222e-02 -1.01544055e-01\n",
      "  4.59990010e-01 -6.41941612e-11 -2.28191657e-11  1.68543845e+00\n",
      "  2.51752534e-01 -1.00275374e-01  3.62349999e-01  2.20534516e-12\n",
      " -1.14142696e-13  1.31319892e+00  1.48040739e-01 -9.08196359e-02\n",
      "  3.62349999e-01 -3.61345903e-13 -6.15446232e-14  1.42848667e+00] 24\n",
      "[ 0.21446273 -0.04320062  0.59114246 -3.08408189 -0.09264471  1.5808744\n",
      "  0.07998665 -0.20968056  1.06603599  1.59149315 -1.23989546 -0.99907074\n",
      "  1.44905847  0.29150665  1.        ] 15\n",
      "[ 0.20870303 -0.04976779  0.5895684  -3.08879784 -0.098506    1.59237466\n",
      "  1.        ]\n",
      "episode_0554556.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554081.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16597872e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45237507e-01 -7.17786480e-02\n",
      "  4.59989153e-01 -6.95463253e-05 -2.01429245e-05  1.83742909e+00\n",
      "  2.51938892e-01 -3.07642091e-01  3.62349962e-01  3.93013170e-08\n",
      "  2.09282436e-06  1.31016374e+00  1.48266529e-01 -2.99575885e-01\n",
      "  3.62341353e-01 -4.79767069e-04  9.11769224e-06  1.43071875e+00] 24\n",
      "[-0.20742386 -0.11418252  0.54573155  3.13362549 -0.14519987  1.89994881\n",
      "  0.0800001  -0.9308008   1.06668107  2.26107999 -2.62068619 -0.74566954\n",
      "  1.85716175  0.69759656  1.        ] 15\n",
      "[-0.2135156  -0.10999383  0.53636897  3.13302377 -0.12930611  1.90440389\n",
      "  1.        ]\n",
      "episode_0554081.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554249.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  1.31598333e-07  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  3.09259847e-02  6.55072730e-02\n",
      "  4.60976266e-01  5.47055977e-05 -5.45857704e-04  1.52078393e+00\n",
      "  2.51751464e-01 -1.00275877e-01  3.62349745e-01  1.96540080e-05\n",
      " -5.68666788e-06  1.31324849e+00  1.48040653e-01 -9.08196962e-02\n",
      "  3.62349999e-01  1.42589148e-09 -8.68635437e-11  1.42848716e+00] 24\n",
      "[ 0.04109268 -0.26575789  0.51454569  3.14041062 -0.15628146  1.52953775\n",
      "  0.07999544 -1.3002303   1.27208312  1.99051994 -2.45523398 -1.0139984\n",
      "  1.70046086  0.47585726  1.        ] 15\n",
      "[ 0.03009693 -0.26019393  0.51787192  3.13644065 -0.16002773  1.55813543\n",
      "  1.        ]\n",
      "episode_0554249.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554267.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  1.74095352e-07  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  3.09244281e-02  6.55175589e-02\n",
      "  4.60976100e-01 -5.41398067e-05 -5.48153016e-04  1.52079691e+00\n",
      "  2.51751175e-01 -1.00275717e-01  3.62349921e-01 -3.20731252e-08\n",
      "  4.13049386e-06  1.31324481e+00  1.48040654e-01 -9.08197396e-02\n",
      "  3.62349999e-01 -2.96709333e-09  1.67847584e-09  1.42848714e+00] 24\n",
      "[-0.11165897 -0.13866716  0.52952118  3.11836353 -0.20620224  1.76466596\n",
      "  0.00709022 -1.05302989  1.18179705  2.1201952  -2.60535903 -0.91047255\n",
      "  1.85711302  0.65869517 -1.        ] 15\n",
      "[-0.11376444 -0.13512493  0.52419145  3.11664519 -0.20134749  1.76648094\n",
      " -1.        ]\n",
      "episode_0554267.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553615.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  2.67725656e-17\n",
      "  0.00000000e+00  0.00000000e+00 -2.45232256e-01 -7.17804331e-02\n",
      "  4.59990010e-01 -4.86668624e-10  3.07519939e-10  1.83724819e+00\n",
      " -4.57917463e-03  1.04477298e-01  4.60990053e-01 -1.23022369e-06\n",
      " -3.18646486e-06  2.08586747e+00  6.81596424e-02  1.48815394e-02\n",
      "  5.06607543e-01  4.44002899e-02 -3.55785696e-02  1.47111209e+00] 24\n",
      "[ 0.0663532  -0.00798661  0.51473891  3.09094469 -0.12533247  1.4813112\n",
      "  0.04117361 -0.4609557   0.96667421  1.64512608 -1.92941073 -1.02517256\n",
      "  1.83972593  0.76552018 -1.        ] 15\n",
      "[ 0.06532499 -0.01759996  0.51621774  3.08980401 -0.12367281  1.48097737\n",
      " -1.        ]\n",
      "episode_0553615.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554145.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16597894e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  3.09340224e-02  6.55152053e-02\n",
      "  4.60988655e-01  5.69043574e-05 -5.78694502e-06  1.52033849e+00\n",
      "  2.51938874e-01 -3.07642054e-01  3.62349988e-01 -3.51808274e-08\n",
      " -6.09605409e-07  1.31016413e+00  1.48278270e-01 -2.99576649e-01\n",
      "  3.62349999e-01 -2.15950406e-09 -7.75419269e-12  1.43071879e+00] 24\n",
      "[ 2.81736181e-02  1.44257032e-03  5.29624314e-01  3.08357479e+00\n",
      " -1.77866724e-01  1.58129775e+00  7.99964939e-02 -5.28676507e-01\n",
      "  8.63700808e-01  1.68625954e+00 -2.02859067e+00 -9.22510710e-01\n",
      "  1.96445403e+00  6.88272424e-01  1.00000000e+00] 15\n",
      "[ 0.02991127 -0.01029291  0.53519565  3.0938162  -0.18472391  1.5796594\n",
      "  1.        ]\n",
      "episode_0554145.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554216.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  4.77031591e-02  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  3.09253465e-02  6.55083827e-02\n",
      "  4.60988587e-01  1.19217033e-05 -5.31988127e-05  1.52079071e+00\n",
      "  2.51777587e-01 -1.48378240e-01  3.62348332e-01 -7.09834850e-05\n",
      " -1.62947464e-05  1.31329637e+00  1.48041289e-01 -1.38961468e-01\n",
      "  3.62348935e-01 -2.07921770e-06 -2.61201990e-05  1.42847078e+00] 24\n",
      "[ 1.63090799e-01 -2.43270624e-01  3.76800993e-01  2.94264120e+00\n",
      " -1.45168870e-01  1.40657030e+00  6.95753072e-07 -1.05324629e+00\n",
      "  1.21422520e+00  1.53781173e+00 -2.30514539e+00 -1.50643630e+00\n",
      "  2.00485207e+00  6.70023400e-01 -1.00000000e+00] 15\n",
      "[ 0.16267299 -0.23640136  0.37747525  2.9430633  -0.14653435  1.40220424\n",
      " -1.        ]\n",
      "episode_0554216.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554237.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  4.93688411e-08  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  3.09257701e-02  6.55018160e-02\n",
      "  4.60976439e-01  5.47053877e-05 -5.39464096e-04  1.52078514e+00\n",
      "  2.51776335e-01 -1.00290917e-01  3.62331374e-01  1.40657976e-03\n",
      " -4.27408073e-04  1.31326017e+00  1.48040795e-01 -9.08196328e-02\n",
      "  3.62349863e-01  7.21110363e-06 -3.52972603e-09  1.42848717e+00] 24\n",
      "[ 0.11474265 -0.23735205  0.46168778  3.02934341 -0.20449714  1.44349239\n",
      "  0.07997058 -1.17523359  1.24210017  1.77784465 -2.37700876 -1.26320647\n",
      "  1.89256291  0.58467574  1.        ] 15\n",
      "[ 0.11140535 -0.24385697  0.46973277  3.03844464 -0.20430012  1.4460037\n",
      "  1.        ]\n",
      "episode_0554237.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555006.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  2.92877331e-17\n",
      "  0.00000000e+00  0.00000000e+00  8.54236029e-02 -8.54134869e-02\n",
      "  4.59985827e-01  2.66853636e-04 -1.42231680e-05 -3.05178125e+00\n",
      "  8.67558913e-02 -7.86509467e-02  4.99973132e-01  2.11180184e-05\n",
      "  1.61487953e-04  1.69625436e+00  3.28628932e-02  8.09961885e-02\n",
      "  4.60987877e-01  2.85451213e-04 -9.15375145e-07  1.79985805e+00] 24\n",
      "[ 0.07101421 -0.09764971  0.56942148  3.13045694 -0.13879532  1.71295472\n",
      "  0.07998432 -0.74182491  1.04061842  1.8641926  -2.01531202 -0.93252096\n",
      "  1.69827846  0.42546861  1.        ] 15\n",
      "[ 0.06191486 -0.09955953  0.57859017  3.13475959 -0.15802173  1.73835112\n",
      "  1.        ]\n",
      "episode_0555006.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554455.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.48543264e-02  6.76678244e-09  1.38695132e-19  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.74223218e-02 -1.01544057e-01\n",
      "  4.59990009e-01  3.66471961e-08 -1.33541380e-08  1.68543847e+00\n",
      "  2.51752043e-01 -1.00275176e-01  3.62349611e-01 -2.58652232e-05\n",
      "  4.02964674e-06  1.31319967e+00  1.48040732e-01 -9.08196343e-02\n",
      "  3.62349999e-01 -6.26514040e-08  3.46276004e-08  1.42848677e+00] 24\n",
      "[-0.03853747 -0.08495093  0.57330152  2.99183014 -0.28240904  1.40488379\n",
      "  0.07810292 -1.10372473  0.83189284  2.15731034 -2.43937656 -0.8749965\n",
      "  2.09168648  0.92164727  1.        ] 15\n",
      "[-0.03696044 -0.09057543  0.57331705  3.00469325 -0.28188295  1.40144044\n",
      "  1.        ]\n",
      "episode_0554455.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555190.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12189759e-01  1.25297007e-19  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04261006e-02 -8.73480510e-02\n",
      "  4.59990009e-01 -2.77783883e-08  1.60597590e-08 -2.92827924e+00\n",
      "  2.01138294e-01 -2.94570765e-01  3.60363703e-01 -1.64227291e+00\n",
      " -1.55307207e+00 -1.16944050e+00  3.28613589e-02  8.09699325e-02\n",
      "  4.60988554e-01  9.39720145e-05 -3.57783493e-06  1.80027834e+00] 24\n",
      "[ 0.2034329  -0.28408544  0.39160684  3.00941155  0.13098116  1.49018787\n",
      "  0.0790198  -0.91259804  1.13015444  1.53003227 -2.08231569 -1.37034142\n",
      "  1.73882358  0.43663244  1.        ] 15\n",
      "[ 0.20352243 -0.28461568  0.39462838  3.01227679  0.12248669  1.48999409\n",
      "  1.        ]\n",
      "episode_0555190.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554584.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.48543264e-02  4.92042217e-13  1.38695132e-19 -7.50711294e-05\n",
      "  0.00000000e+00  1.00000000e+00  3.74223222e-02 -1.01544055e-01\n",
      "  4.59990010e-01 -6.41938211e-11 -2.28188803e-11  1.68543845e+00\n",
      "  2.51752534e-01 -1.00275374e-01  3.62349999e-01  2.20410405e-12\n",
      " -1.13825359e-13  1.31319892e+00  1.48040739e-01 -9.08196359e-02\n",
      "  3.62349999e-01 -3.62178054e-13 -6.18592788e-14  1.42848667e+00] 24\n",
      "[-7.54191319e-02 -1.35427692e-01  5.41683093e-01  3.13969341e+00\n",
      " -5.95718228e-02  1.94271312e+00  2.22502629e-03 -8.70734004e-01\n",
      "  1.17346476e+00  2.06656780e+00 -2.40435121e+00 -9.31790211e-01\n",
      "  1.62100572e+00  4.81455457e-01 -1.00000000e+00] 15\n",
      "[-0.07999363 -0.13528669  0.54035322  3.12695678 -0.07030795  1.93495174\n",
      " -1.        ]\n",
      "episode_0554584.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553800.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  8.80261594e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45232275e-01 -7.17804092e-02\n",
      "  4.59990010e-01 -8.31618125e-10  5.61812057e-10  1.83724642e+00\n",
      "  2.29549825e-01 -6.97468706e-02  4.59989357e-01  2.89975626e-05\n",
      " -2.64757259e-06  1.66617877e+00  2.54335101e-02 -1.03039058e-01\n",
      "  4.59990010e-01  2.41004126e-10 -1.31220420e-11  1.46114331e+00] 24\n",
      "[ 0.20567443 -0.1023271   0.53397241  3.0700325  -0.15606472  1.5524428\n",
      "  0.07999924 -0.58437356  1.13202602  1.68160918 -1.73503664 -1.13017794\n",
      "  1.71305259  0.42181945  1.        ] 15\n",
      "[ 0.2027476  -0.10800159  0.53774764  3.07053247 -0.161626    1.54776827\n",
      "  1.        ]\n",
      "episode_0553800.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555045.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  3.40582227e-17\n",
      "  0.00000000e+00  0.00000000e+00  9.04218653e-02 -8.73431105e-02\n",
      "  4.59989940e-01  3.45544216e-05  3.65766822e-05 -2.92824173e+00\n",
      "  2.04498887e-01 -6.05531018e-02  4.59989636e-01  0.00000000e+00\n",
      " -1.57079633e+00  3.74552348e+00  3.28651444e-02  8.09906578e-02\n",
      "  4.60987877e-01  2.85451396e-04 -9.13610140e-07  1.80002366e+00] 24\n",
      "[ 0.20293581 -0.1496283   0.53725703  3.08240532 -0.0695231   1.43693072\n",
      "  0.07988968 -0.67478461  0.99884018  1.6491186  -1.78075338 -1.03097911\n",
      "  1.70374028  0.4694362   1.        ] 15\n",
      "[ 0.20696349 -0.15257714  0.53617398  3.08059268 -0.06804057  1.42647946\n",
      "  1.        ]\n",
      "episode_0555045.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554549.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.48543264e-02  3.60292055e-13  1.38695132e-19 -7.50711294e-05\n",
      "  0.00000000e+00  1.00000000e+00  3.74223222e-02 -1.01544055e-01\n",
      "  4.59990010e-01 -6.41933042e-11 -2.28187426e-11  1.68543845e+00\n",
      "  2.51752534e-01 -1.00275374e-01  3.62349999e-01  2.20654976e-12\n",
      " -1.14162255e-13  1.31319892e+00  1.48040739e-01 -9.08196359e-02\n",
      "  3.62349999e-01 -3.64445118e-13 -6.18755387e-14  1.42848667e+00] 24\n",
      "[ 0.2513608  -0.00740666  0.6057034  -3.09841699 -0.15229289  1.54308637\n",
      "  0.07996726  0.01600435  1.08728776  1.50424823 -0.90683668 -1.02244628\n",
      "  1.4322349   0.22126568  1.        ] 15\n",
      "[ 0.24673741 -0.01182108  0.60551863 -3.0912786  -0.14627064  1.54547933\n",
      "  1.        ]\n",
      "episode_0554549.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555201.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12189758e-01  1.25297007e-19  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04261007e-02 -8.73480508e-02\n",
      "  4.59990009e-01 -1.83521084e-08  1.03972231e-08 -2.92827924e+00\n",
      "  2.01103994e-01 -2.94364978e-01  3.62349195e-01  0.00000000e+00\n",
      " -1.57079633e+00  3.47304987e+00  3.28601848e-02  8.09684082e-02\n",
      "  4.60988554e-01  9.39718557e-05 -3.57790240e-06  1.80024941e+00] 24\n",
      "[ 0.18156807 -0.28718815  0.43256286  3.05693923  0.04515445  1.51335831\n",
      "  0.07999241 -1.02304249  1.1462192   1.64883116 -2.13417911 -1.26474046\n",
      "  1.72404624  0.38045583  1.        ] 15\n",
      "[ 0.18031081 -0.28820638  0.43803619  3.0692699   0.03396877  1.50637245\n",
      "  1.        ]\n",
      "episode_0555201.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554010.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16621938e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45237331e-01 -7.17801160e-02\n",
      "  4.59989572e-01 -9.76128463e-05 -4.12859352e-05  1.83729817e+00\n",
      "  2.17001874e-01 -1.61481238e-01  5.11930235e-01  7.13239414e-02\n",
      " -8.83043060e-02  1.48826040e+00  1.48268446e-01 -2.99618727e-01\n",
      "  3.62349591e-01  2.89987110e-05 -3.06024620e-07  1.43075421e+00] 24\n",
      "[ 0.21668222 -0.17081942  0.51607945  3.11612656 -0.05900477  1.56348659\n",
      "  0.04148132 -0.68594568  1.05312929  1.62722696 -1.76010554 -1.04677317\n",
      "  1.67954334  0.29976625 -1.        ] 15\n",
      "[ 0.21549492 -0.18143071  0.51556155  3.12173713 -0.05596082  1.55384245\n",
      " -1.        ]\n",
      "episode_0554010.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554366.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.59506785e-07  1.38695132e-19  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.73066301e-02 -1.01615940e-01\n",
      "  4.59966997e-01 -3.80461500e-04 -6.40982581e-07  1.68543286e+00\n",
      "  2.51751251e-01 -1.00275889e-01  3.62349996e-01  1.89962301e-07\n",
      " -5.88691507e-08  1.31324853e+00  1.48040653e-01 -9.08197385e-02\n",
      "  3.62349998e-01 -9.02578890e-08  5.31367612e-08  1.42848712e+00] 24\n",
      "[ 0.02224188 -0.12098674  0.51939409 -3.10592308 -0.11268229  1.55227205\n",
      "  0.07999118 -0.86710519  1.03691843  1.86788549 -2.2354998  -0.92223656\n",
      "  1.79375932  0.63531262  1.        ] 15\n",
      "[ 0.01495579 -0.12212552  0.528999   -3.07694096 -0.11759427  1.56093154\n",
      "  1.        ]\n",
      "episode_0554366.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553664.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  3.27573616e-17\n",
      "  0.00000000e+00  0.00000000e+00 -2.45234715e-01 -7.17823958e-02\n",
      "  4.59987798e-01 -1.43865352e-04 -6.37188066e-05  1.83724641e+00\n",
      " -4.67262666e-03  1.04632315e-01  4.60895312e-01 -7.97873841e-05\n",
      "  9.00220695e-03  2.08586336e+00  2.54335482e-02 -1.03039094e-01\n",
      "  4.59989888e-01  2.08976168e-06 -1.56470419e-06  1.46114331e+00] 24\n",
      "[ 0.18784319 -0.05656816  0.54934714  3.01775904 -0.08728746  1.39087919\n",
      "  0.079999   -0.43113371  0.94039108  1.56289731 -1.66337875 -1.05080217\n",
      "  1.73740178  0.62186777  1.        ] 15\n",
      "[ 0.20102866 -0.05513811  0.54145805  3.01396389 -0.07287615  1.39670534\n",
      "  1.        ]\n",
      "episode_0553664.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553848.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  1.55772351e-02  0.00000000e+00  8.80009204e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45225553e-01 -7.17704517e-02\n",
      "  4.59969955e-01  4.60153122e-04  3.82554968e-04  1.83723393e+00\n",
      "  2.29551512e-01 -6.97474757e-02  4.59990008e-01  8.59391059e-08\n",
      " -8.19144778e-11  1.66629859e+00  2.54334168e-02 -1.03039113e-01\n",
      "  4.59990007e-01 -1.75938622e-07  8.88260155e-10  1.46113867e+00] 24\n",
      "[ 1.69062385e-01 -2.37261815e-01  3.38250446e-01  2.99270110e+00\n",
      " -7.23761128e-02  1.52965776e+00  6.27396960e-05 -9.52218532e-01\n",
      "  1.22154486e+00  1.44477451e+00 -2.22277472e+00 -1.49026546e+00\n",
      "  1.98843166e+00  5.23452442e-01 -1.00000000e+00] 15\n",
      "[ 0.17040589 -0.24360632  0.33527895  2.99309337 -0.06359619  1.52297397\n",
      " -1.        ]\n",
      "episode_0553848.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554973.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  2.52111330e-17\n",
      "  0.00000000e+00  0.00000000e+00  8.53789804e-02 -8.47540350e-02\n",
      "  4.59988810e-01  1.14091562e-04  4.80936889e-06 -3.04750976e+00\n",
      "  2.29542436e-01 -2.70762652e-01  4.73778454e-01 -1.85212787e-03\n",
      " -1.37837698e-01  1.43850052e+00  3.28609809e-02  8.10009011e-02\n",
      "  4.60987877e-01  2.85451058e-04 -9.16876278e-07  1.79971708e+00] 24\n",
      "[ 0.22891962 -0.27877969  0.47283152  3.05857957  0.01286106  1.42208866\n",
      "  0.04092805 -0.93009549  1.05218133  1.61854894 -1.94320235 -1.1494858\n",
      "  1.73705354  0.36283175 -1.        ] 15\n",
      "[ 2.23808047e-01 -2.72474157e-01  4.83503280e-01  3.05915737e+00\n",
      " -2.31618462e-03  1.43842431e+00 -1.00000000e+00]\n",
      "episode_0554973.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554809.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12360589e-01  1.25297007e-19  5.00160448e-18\n",
      "  0.00000000e+00  0.00000000e+00  3.74363101e-02 -1.01201101e-01\n",
      "  4.59989971e-01 -2.74328185e-06  1.61351375e-07  1.68554245e+00\n",
      "  2.51680359e-01 -3.06624643e-01  3.62278560e-01 -6.54188714e-04\n",
      " -4.01594100e-03  1.31422083e+00  1.52306727e-01 -2.46060681e-01\n",
      "  5.10069300e-01 -1.82231918e-02 -1.77287623e-01  1.55307884e+00] 24\n",
      "[ 0.1526605  -0.25020596  0.50497358  3.09762513 -0.05942496  1.57562098\n",
      "  0.04038917 -1.05259223  1.07826289  1.78568712 -2.12307271 -1.05464804\n",
      "  1.73267917  0.31262219 -1.        ] 15\n",
      "[ 0.14954762 -0.2352999   0.51393789  3.10450436 -0.07274495  1.58470263\n",
      " -1.        ]\n",
      "episode_0554809.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554639.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 3.85927804e-02  7.05620738e-13  3.47909573e-18 -7.50711294e-05\n",
      "  0.00000000e+00  0.00000000e+00  3.74223222e-02 -1.01544055e-01\n",
      "  4.59990010e-01 -6.41937417e-11 -2.28190168e-11  1.68543845e+00\n",
      "  2.51752534e-01 -1.00275374e-01  3.62349999e-01  2.44042000e-12\n",
      " -1.09789466e-13  1.31319892e+00  1.48040739e-01 -9.08196359e-02\n",
      "  3.62349999e-01 -3.43587614e-13 -3.54467762e-14  1.42848667e+00] 24\n",
      "[ 1.90702963e-03 -1.07518093e-02  5.17992458e-01  3.07247221e+00\n",
      "  7.61554257e-03  1.54380711e+00  4.34302111e-02 -4.25402250e-01\n",
      "  8.39136844e-01  1.67201046e+00 -1.99051822e+00 -9.27695664e-01\n",
      "  1.76821768e+00  7.82517185e-01 -1.00000000e+00] 15\n",
      "[-2.14992449e-03 -1.00476315e-02  5.17247482e-01  3.07759206e+00\n",
      "  1.41884400e-02  1.55027446e+00 -1.00000000e+00]\n",
      "episode_0554639.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555222.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12191360e-01  1.25297007e-19  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04271611e-02 -8.73488477e-02\n",
      "  4.59989226e-01 -5.43219621e-05 -1.61924534e-06 -2.92828075e+00\n",
      "  2.01103657e-01 -2.94366801e-01  3.62349458e-01  0.00000000e+00\n",
      " -1.57079633e+00  3.47298376e+00  3.28579842e-02  8.09655517e-02\n",
      "  4.60988554e-01  9.39715582e-05 -3.57802885e-06  1.80019518e+00] 24\n",
      "[ 0.1827502  -0.24916142  0.53776067 -3.0654962  -0.06571903  1.3941349\n",
      "  0.07999998 -0.92283785  1.10862927  1.77385873 -1.88610835 -0.97436574\n",
      "  1.56979023  0.41216093  1.        ] 15\n",
      "[ 0.18296297 -0.24533084  0.54192328 -3.09665164 -0.05232866  1.38619708\n",
      "  1.        ]\n",
      "episode_0555222.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554077.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16597820e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45236197e-01 -7.17778301e-02\n",
      "  4.59989934e-01  3.89964926e-06  1.55585957e-06  1.83742994e+00\n",
      "  2.51938982e-01 -3.07641785e-01  3.62349639e-01 -1.44370744e-07\n",
      "  1.93972146e-05  1.31016349e+00  1.48265120e-01 -2.99576352e-01\n",
      "  3.62341938e-01 -4.48480973e-04  9.19171189e-06  1.43071661e+00] 24\n",
      "[-0.18265873 -0.1291627   0.57154085  3.12332883 -0.19958086  1.88881794\n",
      "  0.08000019 -1.0008253   1.15576294  2.29623071 -2.60805662 -0.74548703\n",
      "  1.80922099  0.64646713  1.        ] 15\n",
      "[-0.1909608  -0.12468886  0.56462251  3.12917167 -0.18322653  1.89036791\n",
      "  1.        ]\n",
      "episode_0554077.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555153.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04241024e-02 -8.73454035e-02\n",
      "  4.59990010e-01 -2.31723430e-12 -8.19746014e-13 -2.92825767e+00\n",
      "  2.18705001e-01 -1.72343691e-01  5.06402967e-01 -2.67459933e+00\n",
      " -1.49538755e+00 -2.27949093e-01  3.28652505e-02  8.09749853e-02\n",
      "  4.60988554e-01  9.39679655e-05 -3.57761136e-06  1.80037420e+00] 24\n",
      "[ 0.21653991 -0.16211358  0.50555215  3.10018653  0.02777     1.64784823\n",
      "  0.04221086 -0.60584776  1.1167296   1.64238374 -1.72151129 -1.16118698\n",
      "  1.56866725  0.26870184 -1.        ] 15\n",
      "[ 0.21532735 -0.17073418  0.50452685  3.10165003  0.03469193  1.64828266\n",
      " -1.        ]\n",
      "episode_0555153.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553740.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  8.80261594e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45232275e-01 -7.17804092e-02\n",
      "  4.59990010e-01 -8.31826004e-10  5.61966930e-10  1.83724642e+00\n",
      " -4.68012241e-03  1.04633755e-01  4.60894665e-01 -5.47271749e-05\n",
      "  9.06013783e-03  2.08524114e+00  2.54335101e-02 -1.03039058e-01\n",
      "  4.59990010e-01  2.41024933e-10 -1.31125989e-11  1.46114331e+00] 24\n",
      "[ 2.12451535e-03  9.37973226e-02  4.74406811e-01  3.10876286e+00\n",
      " -1.48943788e-01  1.89050587e+00  7.99997284e-02 -1.42051959e-01\n",
      "  1.15699599e+00  1.58270193e+00 -1.78445857e+00 -1.15654194e+00\n",
      "  1.79785845e+00  5.25015177e-01  1.00000000e+00] 15\n",
      "[ 8.15866613e-04  9.67584303e-02  4.71487719e-01  3.10549748e+00\n",
      " -1.48299516e-01  1.89617033e+00  1.00000000e+00]\n",
      "episode_0553740.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555208.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12189755e-01  1.25297007e-19  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04261007e-02 -8.73480513e-02\n",
      "  4.59990009e-01 -3.37385409e-08  1.80125433e-08 -2.92827924e+00\n",
      "  2.01103971e-01 -2.94364933e-01  3.62349995e-01  0.00000000e+00\n",
      " -1.57079633e+00  3.47305217e+00  3.28594431e-02  8.09674454e-02\n",
      "  4.60988554e-01  9.39717554e-05 -3.57794502e-06  1.80023113e+00] 24\n",
      "[ 0.18949256 -0.28363641  0.4610464   3.08666942 -0.02621952  1.44898251\n",
      "  0.07999829 -1.03266656  1.15691973  1.6916165  -2.08317015 -1.19327399\n",
      "  1.71774424  0.3974094   1.        ] 15\n",
      "[ 0.19154583 -0.28141902  0.46391622  3.08896825 -0.03074332  1.44410019\n",
      "  1.        ]\n",
      "episode_0555208.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555132.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04241024e-02 -8.73454035e-02\n",
      "  4.59990010e-01 -7.16719500e-11  4.62414073e-11 -2.92825767e+00\n",
      "  2.04496252e-01 -6.05550560e-02  4.59989622e-01  0.00000000e+00\n",
      " -1.57079633e+00  3.74553199e+00  3.28702411e-02  8.09782035e-02\n",
      "  4.60987877e-01  2.85451812e-04 -9.09622509e-07  1.80039723e+00] 24\n",
      "[ 0.21006806 -0.05834686  0.48298758  3.02617603  0.00503323  1.73066164\n",
      "  0.07999876 -0.36187368  1.14342688  1.55257498 -1.61530293 -1.24973521\n",
      "  1.6541059   0.30198072  1.        ] 15\n",
      "[ 0.20906688 -0.05709494  0.47784256  3.02879577  0.0143512   1.7357599\n",
      "  1.        ]\n",
      "episode_0555132.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555098.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  8.80240516e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04227507e-02 -8.73436151e-02\n",
      "  4.59990010e-01 -8.95919417e-12  5.12401331e-12 -2.92824313e+00\n",
      "  2.04498352e-01 -6.05530784e-02  4.59989255e-01  0.00000000e+00\n",
      " -1.57079633e+00  3.74553184e+00  3.28682235e-02  8.09831225e-02\n",
      "  4.60987877e-01  2.85451647e-04 -9.11199648e-07  1.80024958e+00] 24\n",
      "[ 0.28049358  0.00425318  0.59269506  3.04428266 -0.17262687  1.59550536\n",
      "  0.07917443 -0.0121849   1.13153541  1.53902267 -0.97833301 -1.16815654\n",
      "  1.55147981  0.20168014  1.        ] 15\n",
      "[ 0.27814138 -0.00415962  0.5890533   3.05265008 -0.162684    1.59635189\n",
      "  1.        ]\n",
      "episode_0555098.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553763.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  8.80261594e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45232275e-01 -7.17804092e-02\n",
      "  4.59990010e-01 -8.31746539e-10  5.61908939e-10  1.83724642e+00\n",
      "  7.14003725e-02 -6.79058121e-03  5.09946689e-01  1.32020735e-02\n",
      " -1.52104773e-02  2.01227649e+00  2.54335101e-02 -1.03039058e-01\n",
      "  4.59990010e-01  2.41015979e-10 -1.31165233e-11  1.46114331e+00] 24\n",
      "[ 0.07428658 -0.01336731  0.52025046  3.12737229 -0.17324795  1.81254179\n",
      "  0.04202285 -0.46360501  1.16004669  1.72220471 -1.88251984 -1.08709335\n",
      "  1.72829115  0.42358082 -1.        ] 15\n",
      "[ 0.08057582 -0.02017276  0.51987998  3.12760529 -0.16708796  1.80425256\n",
      " -1.        ]\n",
      "episode_0553763.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554997.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  2.81601629e-17\n",
      "  0.00000000e+00  0.00000000e+00  8.53807945e-02 -8.47614725e-02\n",
      "  4.59990008e-01 -4.13033720e-08 -4.61125610e-09 -3.04750879e+00\n",
      "  8.74466561e-02 -8.12329275e-02  5.06576383e-01  2.12875935e-02\n",
      " -1.41492120e-01  1.71005869e+00  3.28623688e-02  8.09974795e-02\n",
      "  4.60987877e-01  2.85451170e-04 -9.15786652e-07  1.79981942e+00] 24\n",
      "[ 0.08838956 -0.08924106  0.50743774  3.08330561  0.00565414  1.70118628\n",
      "  0.0409507  -0.61942164  0.97251913  1.69771449 -1.99846495 -1.03438546\n",
      "  1.72087101  0.46886109 -1.        ] 15\n",
      "[ 0.08921585 -0.08810449  0.50541258  3.07637861  0.01107353  1.69531974\n",
      "  1.        ]\n",
      "episode_0554997.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553636.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  2.93746509e-17\n",
      "  0.00000000e+00  0.00000000e+00 -2.45232256e-01 -7.17804319e-02\n",
      "  4.59990008e-01 -6.92948983e-08 -3.01806968e-08  1.83724814e+00\n",
      " -4.57917460e-03  1.04477298e-01  4.60990053e-01 -1.23032694e-06\n",
      " -3.18667761e-06  2.08586747e+00  2.54503719e-02 -1.03057189e-01\n",
      "  4.59936960e-01  9.55369998e-04 -8.54642587e-04  1.46113115e+00] 24\n",
      "[ 0.02615957 -0.12523761  0.4910937   3.05034325  0.00689687  1.46613282\n",
      "  0.07870089 -0.81743268  0.9543223   1.82366881 -2.26560006 -1.03494545\n",
      "  1.77949807  0.79753576  1.        ] 15\n",
      "[ 0.02538429 -0.12542168  0.49822628  3.05489415 -0.00775211  1.46924852\n",
      "  1.        ]\n",
      "episode_0553636.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554309.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.56784557e-07  8.14075595e-13  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.09275117e-02  6.55374245e-02\n",
      "  4.60976154e-01  5.47068118e-05 -5.50019164e-04  1.52080672e+00\n",
      "  2.51751247e-01 -1.00275882e-01  3.62349999e-01  3.87338655e-09\n",
      " -6.61702057e-11  1.31324857e+00  1.48040654e-01 -9.08197395e-02\n",
      "  3.62349999e-01 -9.32149140e-10  5.23682101e-10  1.42848714e+00] 24\n",
      "[ 0.02971592 -0.05483103  0.54026359  3.10006329 -0.26293039  1.5523118\n",
      "  0.07999977 -0.77049264  0.98879306  1.82941459 -2.19186633 -0.97220226\n",
      "  1.98286656  0.69648095  1.        ] 15\n",
      "[ 0.03259358 -0.04620205  0.5382413   3.09361735 -0.26348318  1.55038715\n",
      "  1.        ]\n",
      "episode_0554309.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554332.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.56877459e-07  1.38695132e-19  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.48706156e-02  6.27516304e-02\n",
      "  4.66344175e-01  1.22265729e-03 -2.06387591e-02  1.54858920e+00\n",
      "  2.51751247e-01 -1.00275883e-01  3.62349999e-01  3.52426375e-11\n",
      "  2.42771184e-12  1.31324857e+00  1.48040654e-01 -9.08197395e-02\n",
      "  3.62349999e-01 -8.97547652e-10  6.93534977e-10  1.42848714e+00] 24\n",
      "[ 0.03477985  0.05572164  0.46883082  3.04676103 -0.17135479  1.53986653\n",
      "  0.04081088 -0.28146132  0.94562357  1.49749974 -1.92747453 -1.09697085\n",
      "  2.00336982  0.83296914 -1.        ] 15\n",
      "[ 0.03521671  0.0519374   0.47281356  3.0578757  -0.17880513  1.54288882\n",
      " -1.        ]\n",
      "episode_0554332.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554708.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  4.82454489e-07  1.25297007e-19 -4.34632163e-13\n",
      "  0.00000000e+00  0.00000000e+00  3.74524823e-02 -1.01573074e-01\n",
      "  4.59966874e-01 -6.60638540e-04  3.29078956e-04  1.68542152e+00\n",
      "  2.51753253e-01 -1.00275791e-01  3.62349565e-01  2.45187955e-05\n",
      " -4.74491197e-05  1.31317361e+00  1.48071771e-01 -9.08177836e-02\n",
      "  3.62313979e-01  2.06327496e-03  8.62852448e-05  1.42868099e+00] 24\n",
      "[ 0.17125724 -0.23411348  0.51604984  3.10416833 -0.06452535  1.52553774\n",
      "  0.08000013 -0.95992138  1.11060632  1.77394357 -2.02442238 -1.0797685\n",
      "  1.67657204  0.36511821  1.        ] 15\n",
      "[ 0.17611022 -0.23924453  0.50767473  3.09104472 -0.05506905  1.54276995\n",
      "  1.        ]\n",
      "episode_0554708.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554283.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  1.74037265e-07  1.06383547e-02  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.09263762e-02  6.55328692e-02\n",
      "  4.60987672e-01  9.19317727e-06 -9.24936034e-05  1.52079908e+00\n",
      "  2.51751155e-01 -1.00275797e-01  3.62349999e-01 -4.76212668e-11\n",
      "  1.16745827e-12  1.31324481e+00  1.48040654e-01 -9.08197396e-02\n",
      "  3.62349999e-01 -8.97498484e-10  6.93529707e-10  1.42848714e+00] 24\n",
      "[-1.17630767e-01 -1.20851182e-01  4.90546965e-01  3.09942986e+00\n",
      " -1.60499911e-01  1.75191340e+00  5.38561324e-04 -9.91070383e-01\n",
      "  1.08276336e+00  2.03448117e+00 -2.62205275e+00 -9.73189440e-01\n",
      "  1.94703410e+00  7.25420982e-01 -1.00000000e+00] 15\n",
      "[-0.11692423 -0.12323051  0.498552    3.10731172 -0.17299988  1.74910022\n",
      " -1.        ]\n",
      "episode_0554283.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554682.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  8.75038419e-13  1.25297007e-19 -7.50711294e-05\n",
      "  0.00000000e+00  0.00000000e+00  3.74223222e-02 -1.01544055e-01\n",
      "  4.59990010e-01 -6.41940612e-11 -2.28190219e-11  1.68543845e+00\n",
      "  2.51752534e-01 -1.00275374e-01  3.62349999e-01  2.20585323e-12\n",
      " -1.13690027e-13  1.31319892e+00  1.48040739e-01 -9.08196359e-02\n",
      "  3.62349999e-01 -3.63414775e-13 -6.19185524e-14  1.42848667e+00] 24\n",
      "[-0.1286685  -0.10744689  0.56085981 -3.06825092 -0.10308573  1.65475255\n",
      "  0.07999997 -0.83902312  1.107547    2.11589029 -2.41169041 -0.80192583\n",
      "  1.70127442  0.81966221  1.        ] 15\n",
      "[-0.11490899 -0.11208571  0.56052725 -3.07001396 -0.11050375  1.6345325\n",
      "  1.        ]\n",
      "episode_0554682.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554531.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.48543264e-02  2.89750367e-13  1.38695132e-19  1.90888540e-02\n",
      "  0.00000000e+00  1.00000000e+00  3.74223222e-02 -1.01544055e-01\n",
      "  4.59990010e-01 -6.41945127e-11 -2.28190685e-11  1.68543845e+00\n",
      "  2.51752534e-01 -1.00275374e-01  3.62349999e-01  2.90113722e-12\n",
      " -1.28164517e-13  1.31319892e+00  1.48040739e-01 -9.08196359e-02\n",
      "  3.62349999e-01 -3.35875409e-13  9.40637768e-15  1.42848667e+00] 24\n",
      "[ 2.76992181e-01  4.54909942e-02  5.73880014e-01  3.10291391e+00\n",
      " -1.74449934e-01  1.53089857e+00  8.45299978e-06  2.55240207e-01\n",
      "  1.14952029e+00  1.36742271e+00 -6.45520233e-01 -1.08647208e+00\n",
      "  1.51740146e+00  1.69685720e-01 -1.00000000e+00] 15\n",
      "[ 0.27796841  0.0433183   0.57084592  3.10165471 -0.16724896  1.53375844\n",
      " -1.        ]\n",
      "episode_0554531.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553832.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  8.80009204e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45232431e-01 -7.17802696e-02\n",
      "  4.59990004e-01  4.02600138e-07  1.98525536e-07  1.83723448e+00\n",
      "  2.29553051e-01 -6.97457730e-02  4.59988048e-01  8.45157400e-05\n",
      "  7.71231190e-05  1.66629872e+00  2.54334244e-02 -1.03039115e-01\n",
      "  4.59990005e-01  3.26525440e-07 -2.93038295e-08  1.46113867e+00] 24\n",
      "[ 0.16811217 -0.22846369  0.42516308  3.01784225 -0.109321    1.48586787\n",
      "  0.07999979 -0.99317932  1.18907239  1.62926536 -2.1959771  -1.31493413\n",
      "  1.88607122  0.51153689  1.        ] 15\n",
      "[ 0.16633062 -0.22478251  0.41825234  3.02631925 -0.11741898  1.48924254\n",
      "  1.        ]\n",
      "episode_0553832.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555129.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04241024e-02 -8.73454035e-02\n",
      "  4.59990010e-01 -6.02105153e-10  4.07894471e-10 -2.92825767e+00\n",
      "  2.04496248e-01 -6.05549914e-02  4.59989622e-01  0.00000000e+00\n",
      " -1.57079633e+00  3.74553166e+00  3.28700625e-02  8.09786384e-02\n",
      "  4.60987877e-01  2.85451797e-04 -9.09762057e-07  1.80038417e+00] 24\n",
      "[ 0.21180595 -0.06593153  0.5014027   3.04062346 -0.0318167   1.70900337\n",
      "  0.07999855 -0.39549661  1.1415727   1.58918074 -1.61245896 -1.21635351\n",
      "  1.64637008  0.30099929  1.        ] 15\n",
      "[ 0.21151985 -0.06261058  0.49445597  3.03041888 -0.01643712  1.71848739\n",
      "  1.        ]\n",
      "episode_0555129.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554421.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 1.83407196e-01 -4.82429162e-10  1.38695132e-19  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.73962625e-02 -1.01540635e-01\n",
      "  4.59989330e-01  1.05723875e-05 -3.25543331e-05  1.68543258e+00\n",
      "  2.51752538e-01 -1.00275387e-01  3.62349989e-01  8.25550580e-07\n",
      " -9.83309521e-08  1.31320213e+00  1.48040731e-01 -9.08196183e-02\n",
      "  3.62349999e-01 -8.98871611e-09  7.94654749e-09  1.42848682e+00] 24\n",
      "[-0.14904895 -0.00609677  0.51715517  3.05859974 -0.01746927  1.31108462\n",
      "  0.04540213 -0.63518553  0.49011142  1.94388051 -2.26712396 -0.60306248\n",
      "  2.01178704  1.10833445 -1.        ] 15\n",
      "[-0.13654106 -0.00614784  0.51715735  3.05208744 -0.01898703  1.29570343\n",
      " -1.        ]\n",
      "episode_0554421.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554209.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  9.77054230e-02  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  3.09255110e-02  6.55093532e-02\n",
      "  4.60989717e-01  5.36310454e-06 -3.79901688e-06  1.52076701e+00\n",
      "  2.51583750e-01 -1.98320183e-01  3.62124156e-01 -1.05210674e-02\n",
      " -2.41096485e-03  1.31320425e+00  1.48072926e-01 -1.88972239e-01\n",
      "  3.62214991e-01  1.94094543e-03 -2.51383065e-03  1.42845987e+00] 24\n",
      "[ 1.61081906e-01 -2.93677157e-01  3.69512961e-01  2.94914939e+00\n",
      " -1.19945132e-01  1.43800518e+00  6.00128141e-07 -1.18072156e+00\n",
      "  1.22139585e+00  1.53985733e+00 -2.35613725e+00 -1.50308062e+00\n",
      "  2.00296207e+00  5.54720135e-01 -1.00000000e+00] 15\n",
      "[ 0.16170968 -0.2862262   0.37068739  2.94574055 -0.12440893  1.4333105\n",
      " -1.        ]\n",
      "episode_0554209.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553578.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  2.22333726e-17\n",
      "  0.00000000e+00  0.00000000e+00 -2.45232460e-01 -7.17802104e-02\n",
      "  4.59989771e-01 -6.71372802e-06  1.35600866e-05  1.83724827e+00\n",
      " -4.57917471e-03  1.04477298e-01  4.60990053e-01 -1.23300881e-06\n",
      " -3.19006980e-06  2.08586748e+00  6.86276195e-02  8.52458669e-02\n",
      "  4.60989983e-01  2.97809200e-08 -3.67492886e-06  1.55915493e+00] 24\n",
      "[ 0.01641181 -0.05816484  0.57586464  3.0610404  -0.10216569  1.48110759\n",
      "  0.07999829 -0.69846195  0.89089357  1.89591528 -2.08529825 -0.91430654\n",
      "  1.76715109  0.78687643  1.        ] 15\n",
      "[ 0.01904416 -0.05558906  0.57409749  3.05180395 -0.10481867  1.48272754\n",
      "  1.        ]\n",
      "episode_0553578.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554971.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  2.49509245e-17\n",
      "  0.00000000e+00  0.00000000e+00  8.53787672e-02 -8.47533017e-02\n",
      "  4.59988810e-01  1.14091561e-04  4.80936899e-06 -3.04750990e+00\n",
      "  2.40745615e-01 -2.84333633e-01  4.45102659e-01 -2.64786276e-03\n",
      " -1.02744799e-01  1.40028808e+00  3.28608518e-02  8.10012199e-02\n",
      "  4.60987877e-01  2.85451048e-04 -9.16977719e-07  1.79970755e+00] 24\n",
      "[ 0.23972251 -0.2921926   0.44411895  3.05753141  0.04838809  1.38373833\n",
      "  0.04091544 -0.90466723  1.05592226  1.55042971 -1.92762895 -1.18642557\n",
      "  1.75074418  0.38721215 -1.        ] 15\n",
      "[ 0.23465319 -0.28573838  0.45927224  3.05764627  0.03018279  1.40128176\n",
      " -1.        ]\n",
      "episode_0554971.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554312.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.56815719e-07  5.25981110e-14  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.09276017e-02  6.55392513e-02\n",
      "  4.60976300e-01  5.47069078e-05 -5.44615275e-04  1.52080719e+00\n",
      "  2.51751247e-01 -1.00275883e-01  3.62349999e-01  4.18743650e-09\n",
      " -6.94574500e-11  1.31324857e+00  1.48040654e-01 -9.08197395e-02\n",
      "  3.62349999e-01 -1.03008242e-09  4.74390579e-10  1.42848714e+00] 24\n",
      "[ 0.03568269 -0.02789666  0.53184299  3.08783329 -0.25957368  1.54682655\n",
      "  0.0799995  -0.6716914   0.95936326  1.76181585 -2.13297487 -0.99179585\n",
      "  2.00866711  0.72272068  1.        ] 15\n",
      "[ 0.03592826 -0.01835526  0.52736224  3.08812898 -0.25575134  1.5453338\n",
      "  1.        ]\n",
      "episode_0554312.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553937.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16683424e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45234327e-01 -7.17791212e-02\n",
      "  4.59988949e-01 -6.85781731e-05 -3.12863469e-05  1.83719882e+00\n",
      "  2.29573634e-01 -6.97419094e-02  4.59988820e-01 -1.17276908e-05\n",
      "  7.69455275e-05  1.66626727e+00  9.28778474e-02 -2.72889857e-01\n",
      "  4.69362669e-01  1.86452710e-02 -2.90469679e-02  1.54164418e+00] 24\n",
      "[ 0.09269931 -0.2668526   0.46716451  3.08619806 -0.06945719  1.50598407\n",
      "  0.04087501 -1.24264253  1.05694641  1.8180806  -2.38557112 -1.07288725\n",
      "  1.86736036  0.43960447 -1.        ] 15\n",
      "[ 0.09711924 -0.27398057  0.45927754  3.08216011 -0.05612265  1.50059932\n",
      " -1.        ]\n",
      "episode_0553937.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554080.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16597849e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45238794e-01 -7.17794332e-02\n",
      "  4.59988341e-01 -1.42040826e-04 -4.11746983e-05  1.83742920e+00\n",
      "  2.51938897e-01 -3.07642060e-01  3.62349937e-01 -1.44217906e-07\n",
      "  3.71658240e-06  1.31016376e+00  1.48266070e-01 -2.99576005e-01\n",
      "  3.62341374e-01 -4.79239476e-04  9.56589670e-06  1.43071860e+00] 24\n",
      "[-0.20331976 -0.11711732  0.55134313  3.13316817 -0.1564806   1.8983249\n",
      "  0.08000073 -0.94459086  1.08561026  2.26976914 -2.61883867 -0.74384622\n",
      "  1.84662542  0.68798492  1.        ] 15\n",
      "[-0.20742386 -0.11418252  0.54573155  3.13362549 -0.14519987  1.89994881\n",
      "  1.        ]\n",
      "episode_0554080.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553604.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  2.54426110e-17\n",
      "  0.00000000e+00  0.00000000e+00 -2.45232257e-01 -7.17804333e-02\n",
      "  4.59990009e-01 -1.50223914e-08 -6.11227815e-09  1.83724819e+00\n",
      " -4.57917463e-03  1.04477298e-01  4.60990053e-01 -1.23024750e-06\n",
      " -3.18651392e-06  2.08586747e+00  6.75490082e-02  8.79153420e-02\n",
      "  4.60212399e-01 -9.66745612e-04  4.78745072e-05  1.49157408e+00] 24\n",
      "[ 0.06636539  0.06441101  0.4694015   3.04249828 -0.07609156  1.50292893\n",
      "  0.03954289 -0.14759118  0.97153633  1.4360819  -1.74054531 -1.09122823\n",
      "  1.85316466  0.80080983 -1.        ] 15\n",
      "[ 0.06748108  0.06472821  0.47076564  3.0407461  -0.08318491  1.49760097\n",
      " -1.        ]\n",
      "episode_0553604.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553680.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  8.28011774e-03\n",
      "  0.00000000e+00  0.00000000e+00 -2.45232275e-01 -7.17804087e-02\n",
      "  4.59990009e-01 -1.78422217e-08  3.33740519e-08  1.83724642e+00\n",
      " -4.71180280e-03  1.04631258e-01  4.60888096e-01 -1.75275270e-03\n",
      "  9.88591400e-03  2.08572098e+00  2.54335101e-02 -1.03039058e-01\n",
      "  4.59990010e-01  3.19097866e-10 -1.67163701e-11  1.46114331e+00] 24\n",
      "[ 2.79649203e-01 -2.75452270e-03  4.96081531e-01  3.03562185e+00\n",
      " -4.34071588e-02  1.46485239e+00  2.19587674e-03 -1.09012622e-02\n",
      "  1.13798719e+00  1.35744240e+00 -1.10354211e+00 -1.17102361e+00\n",
      "  1.63620180e+00  3.74103462e-01 -1.00000000e+00] 15\n",
      "[ 2.80171219e-01  2.02624874e-03  4.99063197e-01  3.03890961e+00\n",
      " -5.27738436e-02  1.47204204e+00 -1.00000000e+00]\n",
      "episode_0553680.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554829.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12362888e-01  1.25297007e-19  7.45912941e-18\n",
      "  0.00000000e+00  0.00000000e+00  3.74363905e-02 -1.01201042e-01\n",
      "  4.59990009e-01  2.35225384e-08 -1.51919469e-08  1.68554222e+00\n",
      "  2.51711599e-01 -3.06552176e-01  3.62349792e-01  1.47907694e-06\n",
      " -1.03040430e-05  1.31415032e+00  5.96218962e-02  4.19424255e-02\n",
      "  5.19704046e-01 -3.34157195e-03 -2.35791586e-01  1.71709540e+00] 24\n",
      "[ 0.06045939  0.03801688  0.51582139  3.11324408 -0.12068275  1.74466861\n",
      "  0.04045315 -0.28358972  0.99978851  1.58047854 -1.77385766 -1.00269409\n",
      "  1.79499409  0.50478919 -1.        ] 15\n",
      "[ 0.05645568  0.04443954  0.50942703  3.11849642 -0.10654253  1.74428711\n",
      " -1.        ]\n",
      "episode_0554829.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553858.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  1.05422410e-01  0.00000000e+00  8.80009204e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45232504e-01 -7.17802942e-02\n",
      "  4.59989954e-01 -3.51652390e-06 -1.42649848e-06  1.83723152e+00\n",
      "  2.29551515e-01 -6.97474755e-02  4.59990007e-01  2.02951928e-07\n",
      " -5.67304042e-10  1.66629859e+00  2.54334124e-02 -1.03039112e-01\n",
      "  4.59990003e-01 -4.54072710e-07  6.12114711e-09  1.46113869e+00] 24\n",
      "[ 1.83587823e-01 -3.25207329e-01  3.38541033e-01  3.01692373e+00\n",
      " -4.23301812e-02  1.41440174e+00  2.03472167e-07 -1.12948834e+00\n",
      "  1.20274501e+00  1.45552315e+00 -2.24881310e+00 -1.45581285e+00\n",
      "  1.96534257e+00  4.75622063e-01 -1.00000000e+00] 15\n",
      "[ 0.18426389 -0.33489192  0.33964075  3.01902971 -0.0406896   1.40209536\n",
      " -1.        ]\n",
      "episode_0553858.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553904.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16683424e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45242207e-01 -7.17848008e-02\n",
      "  4.59983386e-01 -5.61576687e-04 -1.70787658e-04  1.83721631e+00\n",
      "  2.29562061e-01 -6.97429992e-02  4.59988820e-01 -1.17276846e-05\n",
      "  7.69450861e-05  1.66628597e+00  2.54317935e-02 -1.03041180e-01\n",
      "  4.59989786e-01  1.41197163e-05 -4.39959013e-07  1.46121752e+00] 24\n",
      "[ 0.01649167 -0.13190907  0.52414243 -3.11715953 -0.17178623  1.48535986\n",
      "  0.07999903 -0.98966425  0.9926937   1.91112787 -2.32271228 -0.88499143\n",
      "  1.9083161   0.66590849  1.        ] 15\n",
      "[ 0.0163352  -0.12610809  0.51949097 -3.13055161 -0.16578615  1.48014973\n",
      "  1.        ]\n",
      "episode_0553904.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554222.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  1.15556469e-02  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  3.09256591e-02  6.55094559e-02\n",
      "  4.60989240e-01  2.67203465e-05  6.24459984e-06  1.52078640e+00\n",
      "  2.51778024e-01 -1.12510416e-01  3.62348670e-01 -7.41096270e-05\n",
      "  4.11791464e-06  1.31329661e+00  1.48057527e-01 -1.03095454e-01\n",
      "  3.62334252e-01  8.28453293e-04  2.76809189e-09  1.42848050e+00] 24\n",
      "[ 1.59894780e-01 -2.07906052e-01  3.82093495e-01  2.95619205e+00\n",
      " -1.53407629e-01  1.37320089e+00 -1.17609418e-05 -9.58652315e-01\n",
      "  1.20688933e+00  1.53856508e+00 -2.26129850e+00 -1.48712463e+00\n",
      "  1.98937622e+00  7.49432903e-01 -1.00000000e+00] 15\n",
      "[ 0.15859758 -0.20310138  0.38417145  2.95624793 -0.15962257  1.37425307\n",
      " -1.        ]\n",
      "episode_0554222.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553756.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  8.80261594e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45232275e-01 -7.17804092e-02\n",
      "  4.59990010e-01 -8.31772138e-10  5.61924755e-10  1.83724642e+00\n",
      "  2.64903157e-02  5.18600996e-02  5.01113829e-01  1.89667533e-02\n",
      " -3.75734709e-02  2.05265599e+00  2.54335101e-02 -1.03039058e-01\n",
      "  4.59990010e-01  2.41018437e-10 -1.31154119e-11  1.46114331e+00] 24\n",
      "[ 0.03004353  0.04512908  0.51097261  3.13740601 -0.19336431  1.85134862\n",
      "  0.04202296 -0.31431226  1.16483861  1.68418639 -1.8454027  -1.09680584\n",
      "  1.76396265  0.48246173 -1.        ] 15\n",
      "[ 0.0349783   0.0372353   0.5137315   3.13779402 -0.19180355  1.84611224\n",
      " -1.        ]\n",
      "episode_0553756.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554743.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  9.09987133e-02  1.25297007e-19 -7.08925476e-17\n",
      "  0.00000000e+00  0.00000000e+00  3.74363755e-02 -1.01201075e-01\n",
      "  4.59990009e-01 -9.76680570e-09 -2.74812198e-08  1.68554302e+00\n",
      "  2.51859120e-01 -1.86116984e-01  3.62050087e-01  4.72726847e-03\n",
      "  1.75622020e-02  1.31347340e+00  1.48036217e-01 -1.76820373e-01\n",
      "  3.62131662e-01 -3.81532519e-03  3.85817172e-03  1.42871349e+00] 24\n",
      "[ 1.82110503e-01 -3.12663126e-01  3.30486245e-01  3.01848575e+00\n",
      " -3.15766353e-02  1.50174279e+00  2.00799048e-06 -1.09013783e+00\n",
      "  1.19932147e+00  1.43235820e+00 -2.23810470e+00 -1.46035021e+00\n",
      "  1.97813348e+00  4.11264625e-01 -1.00000000e+00] 15\n",
      "[ 0.1825798  -0.32121252  0.33067728  3.02359672 -0.02624678  1.49327518\n",
      " -1.        ]\n",
      "episode_0554743.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554447.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.48543264e-02 -6.01058927e-10  1.38695132e-19  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.74223206e-02 -1.01544057e-01\n",
      "  4.59990010e-01  1.13346056e-09 -4.32787510e-10  1.68543848e+00\n",
      "  2.51752554e-01 -1.00275404e-01  3.62349948e-01  2.51326367e-06\n",
      " -5.33243695e-07  1.31320090e+00  1.48040732e-01 -9.08196262e-02\n",
      "  3.62349999e-01 -1.29470978e-08  1.44901369e-08  1.42848679e+00] 24\n",
      "[-0.02150446 -0.02303301  0.57233492  2.94877281 -0.35448294  1.39444159\n",
      "  0.07259588 -0.96256232  0.67237201  2.03701449 -2.34288154 -0.89990382\n",
      "  2.25580799  0.98541227  1.        ] 15\n",
      "[-0.02701694 -0.03275487  0.57564818  2.94022757 -0.36119856  1.41419085\n",
      "  1.        ]\n",
      "episode_0554447.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554779.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.13322969e-01  1.25297007e-19  1.32977313e-18\n",
      "  0.00000000e+00  0.00000000e+00  3.74363868e-02 -1.01201065e-01\n",
      "  4.59990008e-01  2.58939475e-08 -1.45603732e-08  1.68554333e+00\n",
      "  2.51723352e-01 -3.07138585e-01  3.62339439e-01  5.02405699e-07\n",
      "  5.56009961e-04  1.31440178e+00  1.47944294e-01 -2.97633348e-01\n",
      "  3.62346300e-01  1.94572967e-04  9.37640674e-09  1.43041419e+00] 24\n",
      "[ 0.17350203 -0.31585641  0.45702309  3.13216897 -0.04078828  1.41830971\n",
      "  0.07999799 -1.15197829  1.0900839   1.68634791 -2.14969418 -1.09596955\n",
      "  1.77914687  0.3509754   1.        ] 15\n",
      "[ 0.16940966 -0.31492177  0.44882118  3.13087894 -0.03007813  1.4307398\n",
      "  1.        ]\n",
      "episode_0554779.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554784.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.13322929e-01  1.25297007e-19  1.93692634e-18\n",
      "  0.00000000e+00  0.00000000e+00  3.74363869e-02 -1.01201064e-01\n",
      "  4.59990008e-01 -2.65035121e-10 -1.64892938e-08  1.68554332e+00\n",
      "  2.51720562e-01 -3.07148968e-01  3.62349672e-01  4.56168366e-08\n",
      "  1.71467091e-05  1.31440216e+00  1.47940545e-01 -2.97632797e-01\n",
      "  3.62349896e-01  5.28545788e-06  7.85612514e-08  1.43041425e+00] 24\n",
      "[ 0.15504303 -0.31134675  0.41276375  3.12138734  0.02140117  1.46957628\n",
      "  0.07999848 -1.12609073  1.0829225   1.61576234 -2.22277499 -1.17700576\n",
      "  1.81426233  0.37507598  1.        ] 15\n",
      "[ 0.15376346 -0.31034655  0.40608883  3.11818476  0.0282432   1.46962617\n",
      "  1.        ]\n",
      "episode_0554784.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554106.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16597877e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00 -1.73235279e-01 -9.69140532e-02\n",
      "  5.38954903e-01  6.86673647e-02 -1.28628083e-01  1.82051988e+00\n",
      "  2.51938876e-01 -3.07642033e-01  3.62349999e-01  2.01381173e-11\n",
      "  2.21893927e-11  1.31016346e+00  1.48278270e-01 -2.99576649e-01\n",
      "  3.62349999e-01 -2.74828718e-10  9.05976910e-12  1.43071879e+00] 24\n",
      "[-0.17006355 -0.10903226  0.54657413 -3.10486768 -0.14426902  1.88630502\n",
      "  0.04064744 -0.92619299  1.0467093   2.18073315 -2.53738201 -0.73699266\n",
      "  1.83815321  0.61189395 -1.        ] 15\n",
      "[-0.15876863 -0.10753246  0.55104178 -3.11495252 -0.15207225  1.8714568\n",
      " -1.        ]\n",
      "episode_0554106.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554943.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12377147e-01  1.25297007e-19  2.14814775e-17\n",
      "  0.00000000e+00  0.00000000e+00  8.53758164e-02 -8.47433891e-02\n",
      "  4.59988801e-01  1.21340696e-04  9.59385524e-06 -3.04751174e+00\n",
      "  2.51712816e-01 -3.06556922e-01  3.62346373e-01  2.12324299e-04\n",
      " -6.22892532e-06  1.31426919e+00  3.28592221e-02  8.10052474e-02\n",
      "  4.60987877e-01  2.85450916e-04 -9.18258422e-07  1.79958718e+00] 24\n",
      "[ 0.16723505 -0.24483111  0.51402565 -3.09467415  0.01913727  1.67221302\n",
      "  0.07999988 -0.91723761  1.01163145  1.71944586 -1.95336156 -0.97417738\n",
      "  1.61098405  0.16856944  1.        ] 15\n",
      "[ 0.17449772 -0.25381856  0.5095527  -3.10964119  0.02390604  1.63836667\n",
      "  1.        ]\n",
      "episode_0554943.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555221.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12191080e-01  1.25297007e-19  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04270890e-02 -8.73488906e-02\n",
      "  4.59989232e-01 -5.40283720e-05 -1.61938846e-06 -2.92828443e+00\n",
      "  2.01103741e-01 -2.94366614e-01  3.62349455e-01  0.00000000e+00\n",
      " -1.57079633e+00  3.47298661e+00  3.28580831e-02  8.09656801e-02\n",
      "  4.60988554e-01  9.39715716e-05 -3.57802317e-06  1.80019762e+00] 24\n",
      "[ 0.18334593 -0.2523444   0.53297803 -3.07333598 -0.07221222  1.4079452\n",
      "  0.08000002 -0.93765422  1.11947545  1.77401957 -1.90518275 -0.9893644\n",
      "  1.58314522  0.39704479  1.        ] 15\n",
      "[ 0.1827502  -0.24916142  0.53776067 -3.0654962  -0.06571903  1.3941349\n",
      "  1.        ]\n",
      "episode_0555221.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553955.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16620624e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45233153e-01 -7.17781389e-02\n",
      "  4.59990007e-01  1.88072038e-07  9.04544918e-08  1.83719812e+00\n",
      "  2.29579790e-01 -6.97413297e-02  4.59988820e-01 -1.17276941e-05\n",
      "  7.69457623e-05  1.66625732e+00  1.48319791e-01 -2.99425259e-01\n",
      "  3.61844654e-01  1.32318935e-03  9.72098544e-03  1.43075106e+00] 24\n",
      "[ 0.14917417 -0.29110193  0.38925322  3.02762805  0.02671026  1.436385\n",
      "  0.07926965 -1.09761924  1.02173314  1.56293348 -2.29404179 -1.26914157\n",
      "  1.93770624  0.5073159   1.        ] 15\n",
      "[ 0.14874379 -0.29175619  0.39581027  3.03184291  0.01889996  1.43790188\n",
      "  1.        ]\n",
      "episode_0553955.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554477.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.48543264e-02 -5.75854825e-10  1.38695132e-19  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.74223223e-02 -1.01544055e-01\n",
      "  4.59990009e-01  1.07152748e-08 -4.92695079e-09  1.68543845e+00\n",
      "  2.51752520e-01 -1.00275370e-01  3.62349990e-01 -6.49704844e-07\n",
      "  1.31550752e-07  1.31319906e+00  1.48040737e-01 -9.08196331e-02\n",
      "  3.62349999e-01 -5.43433388e-08  4.31779060e-08  1.42848669e+00] 24\n",
      "[ 0.08677606 -0.16682337  0.55222135  3.13292065 -0.05735805  1.37640566\n",
      "  0.07999843 -0.98460962  0.82545433  1.85808013 -2.11964873 -0.79471276\n",
      "  1.80444346  0.58374441  1.        ] 15\n",
      "[ 0.09480144 -0.16582154  0.55018983  3.13420719 -0.04900544  1.38123185\n",
      "  1.        ]\n",
      "episode_0554477.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554398.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01 -1.50091381e-08  1.38695132e-19  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.73279367e-02 -1.01633361e-01\n",
      "  4.59914685e-01 -1.44657789e-03 -1.77018062e-03  1.68543302e+00\n",
      "  2.51751796e-01 -1.00275521e-01  3.62349701e-01 -1.57083853e-05\n",
      "  9.17899152e-08  1.31322326e+00  1.48040656e-01 -9.08194654e-02\n",
      "  3.62349984e-01 -1.36372975e-06  1.09835798e-06  1.42848633e+00] 24\n",
      "[-0.23043887 -0.09178694  0.55323781  3.121606   -0.11591185  1.62671891\n",
      "  0.08000056 -0.85361256  0.95777694  2.29541935 -2.57185988 -0.72188315\n",
      "  1.86982995  1.03800983  1.        ] 15\n",
      "[-0.23198629 -0.08546364  0.55032179  3.1226083  -0.09655284  1.60464414\n",
      "  1.        ]\n",
      "episode_0554398.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554438.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.57059077e-02 -3.61760432e-10  1.38695132e-19  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.74223208e-02 -1.01544059e-01\n",
      "  4.59990007e-01 -8.96483580e-10 -8.74666410e-08  1.68543848e+00\n",
      "  2.51752529e-01 -1.00275388e-01  3.62349991e-01  7.37259674e-07\n",
      " -1.28412272e-07  1.31320151e+00  1.48040732e-01 -9.08196197e-02\n",
      "  3.62349999e-01 -1.24863544e-08  1.08474387e-08  1.42848680e+00] 24\n",
      "[ 0.00356574  0.01000075  0.5257571   2.98772606 -0.14558855  1.13480371\n",
      "  0.04170704 -0.50381754  0.38713604  1.58610902 -2.08874825 -0.64817417\n",
      "  2.15308715  1.05984976 -1.        ] 15\n",
      "[ 0.00657274  0.01345195  0.52989746  2.98383054 -0.17326016  1.14870975\n",
      "  1.        ]\n",
      "episode_0554438.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553676.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  3.42607887e-17\n",
      "  0.00000000e+00  0.00000000e+00 -2.45232283e-01 -7.17803998e-02\n",
      "  4.59990000e-01 -2.83616960e-07  5.70352047e-07  1.83724642e+00\n",
      " -4.66626069e-03  1.04652917e-01  4.60886687e-01  7.59098516e-04\n",
      "  9.71409457e-03  2.08576228e+00  2.54335101e-02 -1.03039058e-01\n",
      "  4.59990010e-01  7.93380963e-10 -2.53008842e-10  1.46114331e+00] 24\n",
      "[ 0.27247072 -0.02402971  0.49208037  3.0315714  -0.01456008  1.44609616\n",
      "  0.07999611 -0.08456312  1.10490119  1.35816731 -1.21009738 -1.15922695\n",
      "  1.64281065  0.4142296   1.        ] 15\n",
      "[ 0.27508381 -0.01922094  0.49174256  3.03153424 -0.02003764  1.4503508\n",
      " -1.        ]\n",
      "episode_0553676.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555086.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  8.22152989e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04227507e-02 -8.73436151e-02\n",
      "  4.59990010e-01 -8.96045443e-12  5.12567231e-12 -2.92824313e+00\n",
      "  2.04499334e-01 -6.05524777e-02  4.59989295e-01  0.00000000e+00\n",
      " -1.57079633e+00  3.74553388e+00  3.28675315e-02  8.09848131e-02\n",
      "  4.60987877e-01  2.85451591e-04 -9.11741037e-07  1.80019886e+00] 24\n",
      "[ 2.91935859e-01  3.75814300e-02  5.67855485e-01  3.02677316e+00\n",
      " -1.88925002e-01  1.55628727e+00  7.56617953e-06  1.19939966e-01\n",
      "  1.16843801e+00  1.46226072e+00 -8.40927263e-01 -1.19058111e+00\n",
      "  1.60387604e+00  2.14594792e-01 -1.00000000e+00] 15\n",
      "[ 0.29163082  0.03986264  0.57272685  3.01781168 -0.1941891   1.56191289\n",
      " -1.        ]\n",
      "episode_0555086.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554890.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12362890e-01  1.25297007e-19  1.49762645e-17\n",
      "  0.00000000e+00  0.00000000e+00  4.85301816e-02 -9.36777159e-02\n",
      "  4.96014569e-01 -5.53050799e-02 -3.57354153e-02  1.97466845e+00\n",
      "  2.51711620e-01 -3.06551974e-01  3.62349998e-01 -1.11943236e-07\n",
      " -1.33962872e-07  1.31415029e+00  3.28561816e-02  8.10127879e-02\n",
      "  4.60987877e-01  2.85450671e-04 -9.20651166e-07  1.79936207e+00] 24\n",
      "[ 0.04560647 -0.08998486  0.51238803  3.07674826 -0.09094678  1.93529876\n",
      "  0.04027895 -0.72343763  1.09115662  1.80898568 -2.14653022 -1.06053234\n",
      "  1.75710103  0.3125089  -1.        ] 15\n",
      "[ 0.04853244 -0.08948553  0.51477347  3.07778385 -0.08932938  1.98525244\n",
      " -1.        ]\n",
      "episode_0554890.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554712.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  5.85898675e-07  1.25297007e-19 -1.05086675e-15\n",
      "  0.00000000e+00  0.00000000e+00  3.76877946e-02 -1.01271896e-01\n",
      "  4.59751037e-01  1.10099811e-02 -2.07809812e-03  1.68553644e+00\n",
      "  2.51753034e-01 -1.00274760e-01  3.62349976e-01  7.99813609e-07\n",
      " -3.99785188e-07  1.31317354e+00  1.48063525e-01 -9.08184801e-02\n",
      "  3.62318874e-01  1.75949978e-03 -5.33837367e-05  1.42872217e+00] 24\n",
      "[ 0.18047438 -0.2490398   0.48498608  3.08929966 -0.02973906  1.57100822\n",
      "  0.08000016 -0.96798598  1.1222178   1.71910095 -2.048655   -1.13941672\n",
      "  1.70170437  0.31345475  1.        ] 15\n",
      "[ 0.18058102 -0.25089345  0.47609759  3.08841886 -0.02283119  1.5698897\n",
      "  1.        ]\n",
      "episode_0554712.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553681.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  1.55519385e-02\n",
      "  0.00000000e+00  0.00000000e+00 -2.45232275e-01 -7.17804090e-02\n",
      "  4.59990009e-01 -9.77145512e-09  1.70676530e-08  1.83724642e+00\n",
      " -4.66445127e-03  1.04639574e-01  4.60893759e-01  5.18900204e-04\n",
      "  9.07630099e-03  2.08571587e+00  2.54335101e-02 -1.03039058e-01\n",
      "  4.59990010e-01  2.93956198e-10 -1.41196440e-11  1.46114331e+00] 24\n",
      "[ 2.80171219e-01  2.02624874e-03  4.99063197e-01  3.03890961e+00\n",
      " -5.27738436e-02  1.47204204e+00  8.71002025e-04  3.09897840e-03\n",
      "  1.14385266e+00  1.36190060e+00 -1.08049426e+00 -1.17020289e+00\n",
      "  1.63341138e+00  3.61698731e-01 -1.00000000e+00] 15\n",
      "[ 0.2805159   0.00719508  0.50280318  3.04147448 -0.06374125  1.48000496\n",
      " -1.        ]\n",
      "episode_0553681.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555087.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  8.69149265e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04227507e-02 -8.73436151e-02\n",
      "  4.59990010e-01 -8.96018632e-12  5.12475501e-12 -2.92824313e+00\n",
      "  2.04499270e-01 -6.05525156e-02  4.59989275e-01  0.00000000e+00\n",
      " -1.57079633e+00  3.74553372e+00  3.28675863e-02  8.09846792e-02\n",
      "  4.60987877e-01  2.85451595e-04 -9.11698163e-07  1.80020288e+00] 24\n",
      "[ 2.91630822e-01  3.98626430e-02  5.72726845e-01  3.01781168e+00\n",
      " -1.94189098e-01  1.56191289e+00  5.83984165e-06  1.22289291e-01\n",
      "  1.16409141e+00  1.46584640e+00 -8.40020795e-01 -1.19418472e+00\n",
      "  1.60803186e+00  2.12699813e-01 -1.00000000e+00] 15\n",
      "[ 0.29102306  0.04067472  0.57752739  3.01526239 -0.19851932  1.56112532\n",
      " -1.        ]\n",
      "episode_0555087.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555214.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12189744e-01  1.25297007e-19  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04155814e-02 -8.73573674e-02\n",
      "  4.59984664e-01 -3.41936050e-04  6.44353372e-04 -2.92829098e+00\n",
      "  2.01103808e-01 -2.94364732e-01  3.62349809e-01  0.00000000e+00\n",
      " -1.57079633e+00  3.47305711e+00  3.28588126e-02  8.09666270e-02\n",
      "  4.60988554e-01  9.39716702e-05 -3.57798125e-06  1.80021560e+00] 24\n",
      "[ 0.1916849  -0.2732883   0.48275772 -3.10719021 -0.03368339  1.43694485\n",
      "  0.07999978 -0.96762409  1.14893904  1.7032671  -1.97233374 -1.0864915\n",
      "  1.63735977  0.36770214  1.        ] 15\n",
      "[ 0.19132195 -0.27066891  0.49091312 -3.09621537 -0.04708596  1.43075332\n",
      "  1.        ]\n",
      "episode_0555214.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554039.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16602586e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45236211e-01 -7.17785159e-02\n",
      "  4.59990009e-01  2.33144679e-08  2.77488002e-09  1.83736646e+00\n",
      "  2.51941980e-01 -3.07625692e-01  3.61931621e-01 -1.36740768e-04\n",
      "  1.00949906e-03  1.31017351e+00  1.48268248e-01 -2.99580020e-01\n",
      "  3.62349999e-01 -4.63732508e-08 -3.49355236e-08  1.43075649e+00] 24\n",
      "[ 0.24831586 -0.32057093  0.39698039  2.97478449  0.09011813  1.35399352\n",
      "  0.07947936 -0.93390495  1.07401564  1.47086329 -1.99829497 -1.33842821\n",
      "  1.82600429  0.45338406  1.        ] 15\n",
      "[ 0.24536433 -0.32124366  0.40197645  2.97832805  0.07780736  1.35780711\n",
      "  1.        ]\n",
      "episode_0554039.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554463.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.48543264e-02 -3.80544089e-11  1.38695132e-19  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.74223217e-02 -1.01544056e-01\n",
      "  4.59990010e-01  3.44059158e-09 -1.83886841e-09  1.68543846e+00\n",
      "  2.51752524e-01 -1.00275377e-01  3.62349996e-01 -2.30631214e-07\n",
      "  4.69470088e-08  1.31319937e+00  1.48040735e-01 -9.08196308e-02\n",
      "  3.62349999e-01 -1.72401857e-08  1.35337810e-08  1.42848674e+00] 24\n",
      "[-0.0140324  -0.12292767  0.57294127  3.08942144 -0.22309894  1.37928625\n",
      "  0.07962794 -1.12722406  0.90024937  2.1127772  -2.38830929 -0.80551039\n",
      "  1.97019453  0.8037969   1.        ] 15\n",
      "[-0.00933285 -0.12756065  0.57221292  3.09258834 -0.20960425  1.38494482\n",
      "  1.        ]\n",
      "episode_0554463.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554279.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  1.74037290e-07  2.66675136e-02  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.09260107e-02  6.55316566e-02\n",
      "  4.60987044e-01 -8.99040903e-06 -1.12507248e-04  1.52080000e+00\n",
      "  2.51751155e-01 -1.00275797e-01  3.62349999e-01 -3.51071867e-10\n",
      "  3.94964464e-10  1.31324481e+00  1.48040654e-01 -9.08197396e-02\n",
      "  3.62349999e-01 -9.06310117e-10  6.82110235e-10  1.42848714e+00] 24\n",
      "[-0.11841447 -0.11601585  0.47310082  3.05816398 -0.10909903  1.76714257\n",
      "  0.00336775 -0.94608037  1.02526933  2.00180527 -2.62389092 -1.02264334\n",
      "  1.96139911  0.75899715 -1.        ] 15\n",
      "[-0.1183031  -0.11621079  0.47359279  3.06949977 -0.12275519  1.76653554\n",
      " -1.        ]\n",
      "episode_0554279.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554746.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  1.22157888e-01  1.25297007e-19 -5.67256392e-17\n",
      "  0.00000000e+00  0.00000000e+00  3.74363756e-02 -1.01201075e-01\n",
      "  4.59990009e-01 -8.32876950e-09 -2.75322591e-08  1.68554303e+00\n",
      "  2.51799263e-01 -2.17575589e-01  3.62305025e-01  2.53149281e-03\n",
      " -1.71396175e-04  1.31365377e+00  1.48092672e-01 -2.08056322e-01\n",
      "  3.62322584e-01 -4.68079795e-04  4.73625153e-04  1.42871528e+00] 24\n",
      "[ 1.82756366e-01 -3.42306078e-01  3.35458413e-01  3.02305147e+00\n",
      " -2.58379732e-02  1.48541976e+00  9.78473935e-07 -1.16332109e+00\n",
      "  1.19223217e+00  1.44904186e+00 -2.25786955e+00 -1.44608376e+00\n",
      "  1.97155572e+00  3.72151046e-01 -1.00000000e+00] 15\n",
      "[ 0.18227412 -0.35097692  0.33805642  3.02356863 -0.02632044  1.48355441\n",
      " -1.        ]\n",
      "episode_0554746.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554226.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01 -6.37418163e-05  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  3.09312388e-02  6.55126580e-02\n",
      "  4.60988434e-01  2.96389343e-04  1.75735776e-04  1.52078488e+00\n",
      "  2.51756967e-01 -1.00148090e-01  3.62304068e-01 -8.12552241e-04\n",
      "  3.22514095e-03  1.31324875e+00  1.48042330e-01 -9.07542633e-02\n",
      "  3.62348751e-01  6.57171538e-05 -3.04470695e-09  1.42848091e+00] 24\n",
      "[ 1.52311998e-01 -1.95631124e-01  3.90771790e-01  2.95893828e+00\n",
      " -1.81325768e-01  1.37458738e+00  3.84859254e-06 -9.57550230e-01\n",
      "  1.21077300e+00  1.55810895e+00 -2.27580821e+00 -1.48150269e+00\n",
      "  2.00185570e+00  7.70875406e-01 -1.00000000e+00] 15\n",
      "[ 0.1497981  -0.19560251  0.39334679  2.96970387 -0.18448856  1.37216382\n",
      "  1.        ]\n",
      "episode_0554226.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553709.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  8.80261594e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45232275e-01 -7.17804092e-02\n",
      "  4.59990010e-01 -8.31933612e-10  5.62048046e-10  1.83724642e+00\n",
      " -4.66942514e-03  1.04652996e-01  4.60886687e-01  7.59098389e-04\n",
      "  9.71410293e-03  2.08549437e+00  2.54335101e-02 -1.03039058e-01\n",
      "  4.59990010e-01  2.41033459e-10 -1.31083832e-11  1.46114331e+00] 24\n",
      "[ 0.20382525 -0.01368731  0.55506193  3.04826015 -0.05065467  1.66933859\n",
      "  0.0799591  -0.22225228  1.07902186  1.58010309 -1.41355019 -1.14638567\n",
      "  1.57370647  0.32829406  1.        ] 15\n",
      "[ 0.19256089 -0.01855688  0.55111241  3.05345844 -0.04159945  1.68444531\n",
      "  1.        ]\n",
      "episode_0553709.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553852.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  4.43030749e-02  0.00000000e+00  8.80009204e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45235232e-01 -7.17808251e-02\n",
      "  4.59987076e-01 -1.41678449e-04  9.32722874e-06  1.83723181e+00\n",
      "  2.29551511e-01 -6.97474758e-02  4.59990009e-01  3.54565020e-08\n",
      "  2.03774989e-10  1.66629859e+00  2.54334186e-02 -1.03039113e-01\n",
      "  4.59990009e-01 -9.04262105e-08  3.11901685e-09  1.46113868e+00] 24\n",
      "[ 1.73483871e-01 -2.64023397e-01  3.31741664e-01  2.99975710e+00\n",
      " -4.86461152e-02  1.50509816e+00  2.64105804e-06 -9.95050610e-01\n",
      "  1.21432014e+00  1.43480351e+00 -2.23015660e+00 -1.48977489e+00\n",
      "  1.97887081e+00  5.06843114e-01 -1.00000000e+00] 15\n",
      "[ 0.17486166 -0.272915    0.33283627  3.00118595 -0.04881122  1.49465316\n",
      " -1.        ]\n",
      "episode_0553852.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555188.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04261001e-02 -8.73480522e-02\n",
      "  4.59990009e-01 -8.23844050e-08  5.31886496e-08 -2.92827924e+00\n",
      "  2.00062897e-01 -2.91279772e-01  3.66820361e-01  1.61137700e+00\n",
      " -1.46032805e+00  1.65054263e+00  3.28615690e-02  8.09702052e-02\n",
      "  4.60988554e-01  9.39720430e-05 -3.57782285e-06  1.80028351e+00] 24\n",
      "[ 0.20145283 -0.28309689  0.3881764   3.00598613  0.1447114   1.49995684\n",
      "  0.07223637 -0.90410228  1.12634759  1.52227557 -2.08746943 -1.38037739\n",
      "  1.7362709   0.43867464  1.        ] 15\n",
      "[ 0.20295505 -0.28360321  0.38934559  3.00496803  0.13830535  1.49301699\n",
      "  1.        ]\n",
      "episode_0555188.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553745.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000068e-01  0.00000000e+00  0.00000000e+00  8.80261594e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45232275e-01 -7.17804092e-02\n",
      "  4.59990010e-01 -8.31809361e-10  5.61954730e-10  1.83724642e+00\n",
      " -4.04034027e-04  1.06549595e-01  4.60338949e-01 -5.91497971e-03\n",
      " -1.23121950e-04  2.10093004e+00  2.54335101e-02 -1.03039058e-01\n",
      "  4.59990010e-01  2.75285870e-10 -2.14117160e-11  1.46114331e+00] 24\n",
      "[ 2.23031871e-03  9.91563150e-02  4.70812543e-01  3.10261789e+00\n",
      " -1.63134678e-01  1.89737847e+00  4.00988749e-02 -1.36529721e-01\n",
      "  1.16897697e+00  1.57792004e+00 -1.78321389e+00 -1.17091265e+00\n",
      "  1.81489730e+00  5.23352390e-01 -1.00000000e+00] 15\n",
      "[ 2.44647829e-05  9.85718728e-02  4.71518875e-01  3.11033762e+00\n",
      " -1.62796521e-01  1.89786282e+00 -1.00000000e+00]\n",
      "episode_0553745.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554933.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12372786e-01  1.25297007e-19  2.02671711e-17\n",
      "  0.00000000e+00  0.00000000e+00  8.53756367e-02 -8.47437319e-02\n",
      "  4.59989858e-01 -1.26310465e-06 -1.61630257e-08 -3.04751193e+00\n",
      "  2.51713294e-01 -3.06555170e-01  3.62346373e-01  2.12312700e-04\n",
      " -6.22888935e-06  1.31425792e+00  3.28586525e-02  8.10066575e-02\n",
      "  4.60987877e-01  2.85450870e-04 -9.18706383e-07  1.79954505e+00] 24\n",
      "[ 0.09846352 -0.15365765  0.54042771 -3.04358857 -0.09909436  2.35446858\n",
      "  0.07999909 -0.71407161  1.10536068  1.79801665 -1.90293943 -0.9245658\n",
      "  1.48441035 -0.30377831  1.        ] 15\n",
      "[ 0.10581357 -0.1616995   0.54072971 -3.03034651 -0.09725997  2.26320317\n",
      "  1.        ]\n",
      "episode_0554933.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553809.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  8.80043888e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45232732e-01 -7.17805414e-02\n",
      "  4.59989599e-01 -2.51908666e-05 -5.78888558e-06  1.83724176e+00\n",
      "  2.29549186e-01 -6.97473195e-02  4.59989692e-01 -3.37195254e-05\n",
      " -1.08973832e-05  1.66621092e+00  2.54337294e-02 -1.03039081e-01\n",
      "  4.59989720e-01  1.43476421e-05 -1.15812124e-06  1.46114391e+00] 24\n",
      "[ 0.19187403 -0.16058891  0.54516332  3.07658602 -0.16060097  1.47458359\n",
      "  0.07999988 -0.77861378  1.12781969  1.76228441 -1.88097459 -1.10273135\n",
      "  1.71019834  0.47098052  1.        ] 15\n",
      "[ 0.19242685 -0.16842443  0.54250339  3.07834597 -0.15314781  1.46455558\n",
      "  1.        ]\n",
      "episode_0553809.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554904.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12364574e-01  1.25297007e-19  1.67399000e-17\n",
      "  0.00000000e+00  0.00000000e+00  6.72660500e-02 -8.12508995e-02\n",
      "  4.94056527e-01 -5.79228620e-02  9.09405856e-03  2.68053536e+00\n",
      "  2.51711721e-01 -3.06552187e-01  3.62349275e-01  4.58049810e-05\n",
      " -6.86837538e-06  1.31418976e+00  3.28569999e-02  8.10107551e-02\n",
      "  4.60987877e-01  2.85450737e-04 -9.20006766e-07  1.79942272e+00] 24\n",
      "[ 0.06198336 -0.08008986  0.51053365  3.07180964 -0.04421472  2.63859399\n",
      "  0.04027474 -0.62374801  1.1757509   1.79126504 -2.03970806 -1.10644852\n",
      "  1.64553211 -0.39667498 -1.        ] 15\n",
      "[ 0.06229241 -0.08012081  0.5085766   3.0765111  -0.04178281  2.69958456\n",
      " -1.        ]\n",
      "episode_0554904.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554588.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.48543264e-02  5.07568335e-13  1.38695132e-19 -7.50711294e-05\n",
      "  0.00000000e+00  1.00000000e+00  3.74223222e-02 -1.01544055e-01\n",
      "  4.59990010e-01 -6.41937652e-11 -2.28189178e-11  1.68543845e+00\n",
      "  2.51752534e-01 -1.00275374e-01  3.62349999e-01  2.20392805e-12\n",
      " -1.13888394e-13  1.31319892e+00  1.48040739e-01 -9.08196359e-02\n",
      "  3.62349999e-01 -3.62931678e-13 -6.18222363e-14  1.42848667e+00] 24\n",
      "[-9.22060534e-02 -1.33964262e-01  5.31917675e-01  3.09473934e+00\n",
      " -1.07602212e-01  1.91184672e+00  5.56957874e-05 -9.18915018e-01\n",
      "  1.20387409e+00  2.08268811e+00 -2.49965452e+00 -9.71282742e-01\n",
      "  1.70055613e+00  5.51645503e-01 -1.00000000e+00] 15\n",
      "[-0.09545503 -0.13323131  0.52768624  3.08596274 -0.11208601  1.90645335\n",
      " -1.        ]\n",
      "episode_0554588.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554707.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  4.13987689e-07  1.25297007e-19 -1.65799006e-12\n",
      "  0.00000000e+00  0.00000000e+00  3.74252532e-02 -1.01583149e-01\n",
      "  4.59947962e-01 -2.07241146e-03 -1.67703536e-05  1.68542449e+00\n",
      "  2.51752758e-01 -1.00274637e-01  3.62349751e-01 -1.34998692e-05\n",
      " -4.15464174e-07  1.31317267e+00  1.48072978e-01 -9.08180510e-02\n",
      "  3.62313325e-01  2.10412077e-03  9.28895053e-05  1.42867134e+00] 24\n",
      "[ 0.16604305 -0.22962118  0.52218827  3.1042664  -0.07237718  1.51913386\n",
      "  0.08000047 -0.96168292  1.10846521  1.78912382 -2.02985733 -1.06892282\n",
      "  1.67460364  0.38101469  1.        ] 15\n",
      "[ 0.17125724 -0.23411348  0.51604984  3.10416833 -0.06452535  1.52553774\n",
      "  1.        ]\n",
      "episode_0554707.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553945.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16683424e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45233173e-01 -7.17781600e-02\n",
      "  4.59990006e-01 -2.52747442e-07 -1.15234848e-07  1.83719881e+00\n",
      "  2.29576384e-01 -6.97416505e-02  4.59988820e-01 -1.17276922e-05\n",
      "  7.69456324e-05  1.66626282e+00  1.28349226e-01 -3.04309657e-01\n",
      "  4.07781196e-01 -7.03087097e-03  7.08903865e-02  1.48795204e+00] 24\n",
      "[ 0.12847876 -0.29917385  0.40532061  3.05794407  0.02956217  1.45407553\n",
      "  0.04088465 -1.16749351  1.01210809  1.62933827 -2.3408676  -1.21062918\n",
      "  1.90940926  0.47295982 -1.        ] 15\n",
      "[ 0.13247579 -0.29974055  0.39891842  3.05217293  0.03869891  1.44771671\n",
      " -1.        ]\n",
      "episode_0553945.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554008.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16621847e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45237820e-01 -7.17798282e-02\n",
      "  4.59986474e-01 -1.41839559e-04 -2.68512652e-05  1.83728972e+00\n",
      "  2.20230079e-01 -1.39781031e-01  5.10138690e-01  5.69256524e-02\n",
      " -9.35861702e-02  1.49947520e+00  1.48268147e-01 -2.99618536e-01\n",
      "  3.62349749e-01  1.73653462e-05 -1.77564238e-07  1.43075379e+00] 24\n",
      "[ 0.21997527 -0.14919974  0.51412979  3.10140632 -0.0628572   1.57428843\n",
      "  0.04148338 -0.62608502  1.05233858  1.60320767 -1.72527843 -1.05983081\n",
      "  1.69345299  0.3082702  -1.        ] 15\n",
      "[ 0.21820053 -0.1614212   0.51557763  3.11011494 -0.06105447  1.56878404\n",
      " -1.        ]\n",
      "episode_0554008.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553684.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  4.24027467e-02\n",
      "  0.00000000e+00  0.00000000e+00 -2.45232275e-01 -7.17804092e-02\n",
      "  4.59990010e-01 -2.15802967e-09  1.68528315e-09  1.83724642e+00\n",
      " -4.66475785e-03  1.04639582e-01  4.60893759e-01  5.18899967e-04\n",
      "  9.07630117e-03  2.08568995e+00  2.54335101e-02 -1.03039058e-01\n",
      "  4.59990010e-01  2.78097930e-10 -2.16896878e-11  1.46114331e+00] 24\n",
      "[ 2.81121892e-01  1.61609209e-02  5.10631722e-01  3.04254491e+00\n",
      " -8.27954265e-02  1.49364348e+00 -3.49795015e-06  4.21539555e-02\n",
      "  1.15561297e+00  1.37647271e+00 -1.01820244e+00 -1.17052451e+00\n",
      "  1.62793914e+00  3.28826970e-01 -1.00000000e+00] 15\n",
      "[ 0.28127275  0.01881691  0.51342295  3.04370843 -0.08785835  1.49566662\n",
      " -1.        ]\n",
      "episode_0553684.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555007.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  2.94033814e-17\n",
      "  0.00000000e+00  0.00000000e+00  8.54235080e-02 -8.54132133e-02\n",
      "  4.59984979e-01  3.11092952e-04 -1.36702026e-05 -3.05178695e+00\n",
      "  8.67557403e-02 -7.86490132e-02  4.99972066e-01  2.23226053e-05\n",
      "  2.11465163e-04  1.69626243e+00  3.28629477e-02  8.09960543e-02\n",
      "  4.60987877e-01  2.85451217e-04 -9.15332384e-07  1.79986206e+00] 24\n",
      "[ 0.06191486 -0.09955953  0.57859017  3.13475959 -0.15802173  1.73835112\n",
      "  0.07999299 -0.76194075  1.0558516   1.89689028 -2.03179793 -0.9174496\n",
      "  1.69110793  0.4089365   1.        ] 15\n",
      "[ 0.05350982 -0.1011813   0.58523695  3.13264031 -0.17160891  1.76273989\n",
      "  1.        ]\n",
      "episode_0555007.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554882.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12362890e-01  1.25297007e-19  1.39932545e-17\n",
      "  0.00000000e+00  0.00000000e+00  3.89965237e-02 -9.68769683e-02\n",
      "  4.62555532e-01 -3.11451324e-05  1.12842700e-02  1.69557698e+00\n",
      "  2.51711620e-01 -3.06551974e-01  3.62349998e-01 -1.08375363e-07\n",
      " -1.35047444e-07  1.31415029e+00  3.28557221e-02  8.10139305e-02\n",
      "  4.60987877e-01  2.85450634e-04 -9.21013169e-07  1.79932798e+00] 24\n",
      "[ 0.03745831 -0.09186743  0.47869839  3.13082911 -0.04169048  1.65578355\n",
      "  0.0400656  -0.69004336  1.03623839  1.73160084 -2.16006822 -1.04179182\n",
      "  1.78370667  0.59729812 -1.        ] 15\n",
      "[ 0.03764448 -0.09092972  0.48151013  3.12892196 -0.04606378  1.66839095\n",
      " -1.        ]\n",
      "episode_0554882.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554843.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12362888e-01  1.25297007e-19  9.19385288e-18\n",
      "  0.00000000e+00  0.00000000e+00  3.74363904e-02 -1.01201042e-01\n",
      "  4.59990009e-01  2.16703305e-08 -1.47338530e-08  1.68554222e+00\n",
      "  2.51711620e-01 -3.06551971e-01  3.62349998e-01 -1.10699798e-07\n",
      " -1.34337325e-07  1.31415032e+00  3.28354858e-02  8.10404049e-02\n",
      "  4.60721773e-01 -3.66431651e-04  1.28977846e-03  1.79920160e+00] 24\n",
      "[ 0.03540907  0.06351975  0.49248161  3.12637645 -0.08414746  1.73276467\n",
      "  0.07979084 -0.18242601  1.02479053  1.53908331 -1.7470492  -1.03225352\n",
      "  1.77522428  0.5766018   1.        ] 15\n",
      "[ 0.03737785  0.05775937  0.50043504  3.13890624 -0.09839772  1.72119111\n",
      "  1.        ]\n",
      "episode_0554843.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553902.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16683424e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45232428e-01 -7.17787971e-02\n",
      "  4.59989656e-01 -1.29085148e-05 -3.57187246e-06  1.83721852e+00\n",
      "  2.29561322e-01 -6.97430687e-02  4.59988820e-01 -1.17276842e-05\n",
      "  7.69450576e-05  1.66628717e+00  2.54321028e-02 -1.03041173e-01\n",
      "  4.59989720e-01  2.79504487e-05 -4.29029523e-07  1.46121633e+00] 24\n",
      "[ 0.01911787 -0.14549752  0.53387627 -3.09133701 -0.1854037   1.49421939\n",
      "  0.07999949 -1.02770964  1.02785036  1.93584277 -2.31996005 -0.86057847\n",
      "  1.87517421  0.62232808  1.        ] 15\n",
      "[ 0.01716618 -0.13761804  0.52830589 -3.1052614  -0.1778619   1.4905431\n",
      "  1.        ]\n",
      "episode_0553902.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555187.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04260995e-02 -8.73480536e-02\n",
      "  4.59990009e-01 -1.44094371e-07  9.66705858e-08 -2.92827924e+00\n",
      "  1.98957212e-01 -2.91527117e-01  3.86787526e-01  1.65444133e+00\n",
      " -1.46143627e+00  1.61335353e+00  3.28616678e-02  8.09703336e-02\n",
      "  4.60988554e-01  9.39720563e-05 -3.57781717e-06  1.80028595e+00] 24\n",
      "[ 0.19975584 -0.28269447  0.39004555  3.00971908  0.14252602  1.50873254\n",
      "  0.06023554 -0.90829725  1.12699822  1.5280368  -2.09094372 -1.37582141\n",
      "  1.73440246  0.4306474   1.        ] 15\n",
      "[ 0.20145283 -0.28309689  0.3881764   3.00598613  0.1447114   1.49995684\n",
      "  1.        ]\n",
      "episode_0555187.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554401.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01 -5.62939595e-08  1.38695132e-19  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.73584137e-02 -1.01629335e-01\n",
      "  4.59915564e-01  6.53280809e-04 -3.20389598e-03  1.68542054e+00\n",
      "  2.51751318e-01 -1.00275260e-01  3.62349301e-01 -4.67736824e-05\n",
      "  8.63870082e-08  1.31321714e+00  1.48040704e-01 -9.08194136e-02\n",
      "  3.62349965e-01  2.94509651e-07  2.64354269e-06  1.42848669e+00] 24\n",
      "[-0.23307312 -0.07487874  0.5461347   3.12016544 -0.07733465  1.56933191\n",
      "  0.07999991 -0.80313837  0.86134211  2.25872702 -2.52097471 -0.69487952\n",
      "  1.8905368   1.08702356  1.        ] 15\n",
      "[-0.23337477 -0.06950692  0.54472468  3.11738708 -0.07530428  1.554776\n",
      "  1.        ]\n",
      "episode_0554401.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553610.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  2.61654124e-17\n",
      "  0.00000000e+00  0.00000000e+00 -2.45232256e-01 -7.17804331e-02\n",
      "  4.59990010e-01 -6.31307267e-10  2.61713191e-10  1.83724819e+00\n",
      " -4.57917463e-03  1.04477298e-01  4.60990053e-01 -1.23022402e-06\n",
      " -3.18646555e-06  2.08586747e+00  6.83670558e-02  6.71516694e-02\n",
      "  4.87682638e-01  1.90291379e-02 -4.27440408e-02  1.49119243e+00] 24\n",
      "[ 0.06670399  0.04386241  0.49551991  3.06624807 -0.12939254  1.50339784\n",
      "  0.04115627 -0.27566723  0.9728625   1.53288958 -1.81564901 -1.06829925\n",
      "  1.86907619  0.78265787 -1.        ] 15\n",
      "[ 0.06695448  0.03373788  0.50139749  3.07162887 -0.13211259  1.50025644\n",
      " -1.        ]\n",
      "episode_0553610.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553840.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  8.80009204e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45246434e-01 -7.17890932e-02\n",
      "  4.59980805e-01 -7.90605520e-04 -2.40685020e-04  1.83723409e+00\n",
      "  2.29551525e-01 -6.97474725e-02  4.59990000e-01  7.11766536e-07\n",
      "  9.95084923e-08  1.66629859e+00  2.54333953e-02 -1.03039111e-01\n",
      "  4.59989992e-01 -1.22577154e-06  2.07171951e-08  1.46113867e+00] 24\n",
      "[ 0.15837899 -0.20999967  0.37959499  3.04560846 -0.11804874  1.53261121\n",
      "  0.07999933 -0.93360515  1.22596384  1.53442663 -2.19875716 -1.36841334\n",
      "  1.93961006  0.50397434  1.        ] 15\n",
      "[ 0.1580206  -0.21028472  0.37326653  3.03532075 -0.11409813  1.54360505\n",
      " -1.        ]\n",
      "episode_0553840.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554622.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.48543264e-02  6.38597549e-13  1.65771079e-11 -7.50711294e-05\n",
      "  0.00000000e+00  0.00000000e+00  3.74223222e-02 -1.01544055e-01\n",
      "  4.59990010e-01 -6.41933834e-11 -2.28188770e-11  1.68543845e+00\n",
      "  2.51752534e-01 -1.00275374e-01  3.62349999e-01  2.20484661e-12\n",
      " -1.13885210e-13  1.31319892e+00  1.48040739e-01 -9.08196359e-02\n",
      "  3.62349999e-01 -3.62173173e-13 -6.18664630e-14  1.42848667e+00] 24\n",
      "[-0.0063264  -0.09102609  0.57518358  3.05275171 -0.10698378  1.49826967\n",
      "  0.07999999 -0.83135285  0.94552719  2.00202581 -2.21504548 -0.921999\n",
      "  1.75739025  0.79863214  1.        ] 15\n",
      "[ 1.33954114e-03 -8.53680941e-02  5.71251108e-01  3.05455201e+00\n",
      " -9.77114977e-02  1.48012028e+00  1.00000000e+00]\n",
      "episode_0554622.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554395.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01 -5.02052298e-08  1.38695132e-19  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.73234887e-02 -1.01591094e-01\n",
      "  4.59987366e-01 -1.34219271e-04  5.50943387e-06  1.68542486e+00\n",
      "  2.51751283e-01 -1.00275382e-01  3.62349369e-01 -3.97349368e-05\n",
      " -1.98779234e-07  1.31322555e+00  1.48040654e-01 -9.08193946e-02\n",
      "  3.62349968e-01 -1.14322790e-06  2.24539533e-06  1.42848649e+00] 24\n",
      "[-0.22077323 -0.10592568  0.55837915  3.1220302  -0.13233446  1.65848948\n",
      "  0.08000095 -0.8955748   1.02886107  2.3124162  -2.59822426 -0.7388596\n",
      "  1.84037043  0.9883075   1.        ] 15\n",
      "[-0.22570948 -0.10146904  0.55726553  3.11766853 -0.13636501  1.65928727\n",
      "  1.        ]\n",
      "episode_0554395.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553579.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  2.23490208e-17\n",
      "  0.00000000e+00  0.00000000e+00 -2.45232362e-01 -7.17803205e-02\n",
      "  4.59989887e-01 -3.44513098e-06  6.96020066e-06  1.83724827e+00\n",
      " -4.57917470e-03  1.04477298e-01  4.60990053e-01 -1.23283831e-06\n",
      " -3.18971782e-06  2.08586748e+00  6.86276196e-02  8.52458669e-02\n",
      "  4.60989983e-01  3.28904854e-08 -3.67453650e-06  1.55915493e+00] 24\n",
      "[ 0.01904416 -0.05558906  0.57409749  3.05180395 -0.10481867  1.48272754\n",
      "  0.07999831 -0.6917581   0.88633208  1.88689361 -2.08345701 -0.92399381\n",
      "  1.7768903   0.7874609   1.        ] 15\n",
      "[ 0.02291776 -0.05150272  0.57018019  3.03889864 -0.10780884  1.48518207\n",
      "  1.        ]\n",
      "episode_0553579.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554481.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.48543264e-02 -2.07965284e-10  1.38695132e-19  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.74223223e-02 -1.01544055e-01\n",
      "  4.59990010e-01  5.44960518e-09 -2.72399403e-09  1.68543845e+00\n",
      "  2.51752527e-01 -1.00275371e-01  3.62349994e-01 -3.67383293e-07\n",
      "  7.52717510e-08  1.31319894e+00  1.48040738e-01 -9.08196349e-02\n",
      "  3.62349999e-01 -2.81449918e-08  2.23062475e-08  1.42848667e+00] 24\n",
      "[ 0.11922556 -0.15883154  0.54569454  3.13043158 -0.03632044  1.40869712\n",
      "  0.07999867 -0.86549867  0.81273294  1.74665738 -2.00788466 -0.81459324\n",
      "  1.78560759  0.51725571  1.        ] 15\n",
      "[ 0.12991987 -0.15450677  0.54452671  3.12676294 -0.03441694  1.42214825\n",
      "  1.        ]\n",
      "episode_0554481.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554544.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.48543264e-02  3.41660715e-13  1.38695132e-19 -7.50711294e-05\n",
      "  0.00000000e+00  1.00000000e+00  3.74223222e-02 -1.01544055e-01\n",
      "  4.59990010e-01 -6.41937503e-11 -2.28189249e-11  1.68543845e+00\n",
      "  2.51752534e-01 -1.00275374e-01  3.62349999e-01  2.25524662e-12\n",
      " -1.12664873e-13  1.31319892e+00  1.48040739e-01 -9.08196359e-02\n",
      "  3.62349999e-01 -3.59016870e-13 -5.63023731e-14  1.42848667e+00] 24\n",
      "[ 0.26809489  0.01123768  0.59290262 -3.14092558 -0.15929933  1.5543591\n",
      "  0.07852752  0.11093541  1.11086085  1.44876956 -0.79685556 -1.05837615\n",
      "  1.46641085  0.17676298  1.        ] 15\n",
      "[ 0.26606256  0.00820314  0.59807532 -3.13191758 -0.16787332  1.54952503\n",
      "  1.        ]\n",
      "episode_0554544.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553567.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  2.08455938e-17\n",
      "  0.00000000e+00  0.00000000e+00 -2.45257510e-01 -7.18009978e-02\n",
      "  4.59967072e-01 -1.48989150e-03 -6.60164534e-04  1.83724840e+00\n",
      " -4.57917494e-03  1.04477298e-01  4.60990053e-01 -1.23518223e-06\n",
      " -3.19198304e-06  2.08586750e+00  6.86276189e-02  8.52458669e-02\n",
      "  4.60989983e-01  2.27054509e-08 -3.67565670e-06  1.55915491e+00] 24\n",
      "[-0.03878174 -0.07087735  0.57556305  3.07373967 -0.10201585  1.55590555\n",
      "  0.07999659 -0.76731648  0.94720611  2.00931699 -2.21826016 -0.90106061\n",
      "  1.74969564  0.80804046  1.        ] 15\n",
      "[-0.02706343 -0.07078591  0.5760694   3.07513196 -0.10462246  1.53198487\n",
      "  1.        ]\n",
      "episode_0553567.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554319.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.56861754e-07  1.05031641e-16  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.09256672e-02  6.55441481e-02\n",
      "  4.60977186e-01 -4.86723966e-05 -5.04229557e-04  1.52079966e+00\n",
      "  2.51751248e-01 -1.00275883e-01  3.62349999e-01  3.21584491e-09\n",
      " -2.39245599e-11  1.31324857e+00  1.48040654e-01 -9.08197395e-02\n",
      "  3.62349999e-01 -9.84071501e-10  5.49898402e-10  1.42848714e+00] 24\n",
      "[ 0.03241687  0.02626938  0.50198808  3.06465282 -0.22358896  1.54555972\n",
      "  0.07999924 -0.44384066  0.92250247  1.60976926 -2.02038347 -1.03893508\n",
      "  2.03106583  0.79038287  1.        ] 15\n",
      "[ 0.03172749  0.0313976   0.49765012  3.06432485 -0.21395352  1.54496428\n",
      "  1.        ]\n",
      "episode_0554319.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554696.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  1.76648246e-07  1.25297007e-19 -2.83610708e-07\n",
      "  0.00000000e+00  0.00000000e+00  3.74017127e-02 -1.01553128e-01\n",
      "  4.59980843e-01 -1.07567045e-03 -3.33031543e-04  1.68543868e+00\n",
      "  2.51748523e-01 -1.00273884e-01  3.62346803e-01 -2.12811589e-04\n",
      "  3.30304351e-05  1.31319711e+00  1.48053160e-01 -9.08214658e-02\n",
      "  3.62336251e-01  7.63550411e-04 -1.96027637e-05  1.42850481e+00] 24\n",
      "[ 0.05837832 -0.17398167  0.56082887 -3.11400643 -0.12142189  1.46657333\n",
      "  0.08000094 -0.98221835  1.10831785  1.95874575 -2.18502867 -0.93056899\n",
      "  1.66862353  0.61544229  1.        ] 15\n",
      "[ 0.07155411 -0.18008915  0.56096922 -3.12461553 -0.13292513  1.47389283\n",
      "  1.        ]\n",
      "episode_0554696.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554043.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16602587e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45236210e-01 -7.17785158e-02\n",
      "  4.59990008e-01  1.12503160e-07  1.25814117e-08  1.83736644e+00\n",
      "  2.51937930e-01 -3.07645805e-01  3.62325377e-01 -7.35235281e-05\n",
      " -1.42518027e-05  1.31017444e+00  1.48268245e-01 -2.99580023e-01\n",
      "  3.62349996e-01 -2.11690737e-07 -1.64338819e-07  1.43075649e+00] 24\n",
      "[ 0.2315651  -0.32197172  0.41968605  2.9810753   0.04838661  1.36698523\n",
      "  0.07998521 -1.01886697  1.07164745  1.54820576 -2.06340466 -1.30341852\n",
      "  1.82991907  0.44107859  1.        ] 15\n",
      "[ 0.22605771 -0.32169481  0.42598849  2.98628284  0.0372617   1.37008482\n",
      "  1.        ]\n",
      "episode_0554043.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555112.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04239575e-02 -8.73459806e-02\n",
      "  4.59989859e-01 -2.66664045e-05  1.31907603e-05 -2.92825767e+00\n",
      "  2.04496135e-01 -6.05545010e-02  4.59989457e-01  0.00000000e+00\n",
      " -1.57079633e+00  3.74553815e+00  3.28690465e-02  8.09811143e-02\n",
      "  4.60987877e-01  2.85451714e-04 -9.10556136e-07  1.80030984e+00] 24\n",
      "[ 0.21951546 -0.07284548  0.53791431  3.12056613 -0.05975368  1.65495242\n",
      "  0.07999752 -0.36104785  1.13166585  1.62229833 -1.47755857 -1.1261148\n",
      "  1.54661921  0.27874083  1.        ] 15\n",
      "[ 0.21761903 -0.07450251  0.53553455  3.11803209 -0.05497527  1.65566501\n",
      "  1.        ]\n",
      "episode_0555112.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555215.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12189744e-01  1.25297007e-19  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04219706e-02 -8.73518746e-02\n",
      "  4.59987518e-01 -1.39582523e-04  2.67661634e-04 -2.92829650e+00\n",
      "  2.01103907e-01 -2.94364706e-01  3.62349908e-01  0.00000000e+00\n",
      " -1.57079633e+00  3.47305675e+00  3.28587013e-02  8.09664825e-02\n",
      "  4.60988554e-01  9.39716551e-05 -3.57798765e-06  1.80021285e+00] 24\n",
      "[ 0.19132195 -0.27066891  0.49091312 -3.09621537 -0.04708596  1.43075332\n",
      "  0.07999995 -0.96530136  1.14971018  1.71570379 -1.95840062 -1.06589634\n",
      "  1.62879443  0.36810068  1.        ] 15\n",
      "[ 0.19083545 -0.26848486  0.49863632 -3.08244239 -0.06036288  1.41884634\n",
      "  1.        ]\n",
      "episode_0555215.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554488.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.48543264e-02 -3.57342327e-11  1.38695132e-19  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.74223223e-02 -1.01544055e-01\n",
      "  4.59990010e-01  1.13887092e-09 -6.49228977e-10  1.68543845e+00\n",
      "  2.51752532e-01 -1.00275373e-01  3.62349998e-01 -9.15915106e-08\n",
      "  2.05469924e-08  1.31319892e+00  1.48040739e-01 -9.08196357e-02\n",
      "  3.62349999e-01 -6.18563915e-09  5.25624232e-09  1.42848667e+00] 24\n",
      "[ 0.19254305 -0.12196787  0.55325803  3.09929407 -0.05295607  1.46135878\n",
      "  0.07999875 -0.58818463  0.84864548  1.55581135 -1.71384128 -0.87465393\n",
      "  1.74244755  0.4084874   1.        ] 15\n",
      "[ 0.20421649 -0.11531893  0.55643216  3.09651932 -0.06059406  1.46060844\n",
      "  1.        ]\n",
      "episode_0554488.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554324.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.56873665e-07  1.06388099e-18  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.09261264e-02  6.55493679e-02\n",
      "  4.60979761e-01 -2.66125706e-05 -3.93858787e-04  1.52077725e+00\n",
      "  2.51751247e-01 -1.00275883e-01  3.62349999e-01  9.11133664e-10\n",
      "  3.01470753e-11  1.31324857e+00  1.48040654e-01 -9.08197395e-02\n",
      "  3.62349999e-01 -9.05351243e-10  6.73202948e-10  1.42848714e+00] 24\n",
      "[ 0.02894177  0.04872186  0.48082964  3.04516725 -0.189317    1.55044\n",
      "  0.07999889 -0.32868499  0.92167466  1.53141784 -1.96672337 -1.07592955\n",
      "  2.02340688  0.82370999  1.        ] 15\n",
      "[ 0.02878856  0.05148846  0.47696496  3.04299313 -0.18209712  1.54942646\n",
      "  1.        ]\n",
      "episode_0554324.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554473.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.48543264e-02 -1.62892844e-09  1.38695132e-19  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.74223224e-02 -1.01544055e-01\n",
      "  4.59990009e-01  2.09918939e-08 -8.11071943e-09  1.68543845e+00\n",
      "  2.51752508e-01 -1.00275364e-01  3.62349981e-01 -1.25838417e-06\n",
      "  2.70865776e-07  1.31319917e+00  1.48040735e-01 -9.08196300e-02\n",
      "  3.62349999e-01 -9.12986054e-08  7.31922982e-08  1.42848671e+00] 24\n",
      "[ 0.05599051 -0.16417461  0.56294202  3.13952093 -0.11824597  1.36241698\n",
      "  0.07999752 -1.07645339  0.8710931   1.96150026 -2.21701686 -0.78245857\n",
      "  1.84060204  0.64168651  1.        ] 15\n",
      "[ 0.06325736 -0.16629084  0.56004479 -3.13885199 -0.09849841  1.35945254\n",
      "  1.        ]\n",
      "episode_0554473.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554812.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12361307e-01  1.25297007e-19  5.37746124e-18\n",
      "  0.00000000e+00  0.00000000e+00  3.74363815e-02 -1.01201074e-01\n",
      "  4.59989995e-01  8.18582203e-07  2.29019323e-07  1.68554239e+00\n",
      "  2.51678708e-01 -3.06629324e-01  3.62274330e-01 -6.55135758e-04\n",
      " -4.23797742e-03  1.31420175e+00  1.43728358e-01 -1.99714121e-01\n",
      "  5.33177381e-01  1.62090364e-02 -2.13406840e-01  1.56259079e+00] 24\n",
      "[ 0.14391815 -0.20391368  0.528187    3.13066678 -0.09682076  1.59013059\n",
      "  0.04036507 -0.94298639  1.0626796   1.79362524 -2.04493121 -0.98883668\n",
      "  1.71353104  0.33815153 -1.        ] 15\n",
      "[ 0.13985847 -0.18554022  0.53429151  3.13843849 -0.1080893   1.60096237\n",
      " -1.        ]\n",
      "episode_0554812.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553835.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  8.80009204e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45232431e-01 -7.17802751e-02\n",
      "  4.59990003e-01  4.87541803e-07  3.82727913e-08  1.83723443e+00\n",
      "  2.29551761e-01 -6.97473772e-02  4.59989751e-01  1.27463292e-05\n",
      "  3.51338677e-06  1.66629869e+00  2.54334218e-02 -1.03039115e-01\n",
      "  4.59990006e-01  2.04832653e-07 -1.65532601e-08  1.46113866e+00] 24\n",
      "[ 0.16353318 -0.21929317  0.40769584  3.04196587 -0.12342288  1.49740291\n",
      "  0.07999942 -0.96887625  1.2099257   1.59297829 -2.19383103 -1.32358188\n",
      "  1.90760175  0.50874589  1.        ] 15\n",
      "[ 0.16253343 -0.21683444  0.40267125  3.04734045 -0.12439206  1.50152749\n",
      "  1.        ]\n",
      "episode_0553835.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554383.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  3.47901268e-08  1.38695132e-19  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.73125836e-02 -1.01615114e-01\n",
      "  4.59988410e-01 -8.64997900e-05 -4.81713118e-06  1.68542954e+00\n",
      "  2.51751086e-01 -1.00275897e-01  3.62349673e-01 -2.14957100e-05\n",
      " -4.73856943e-08  1.31325295e+00  1.48040644e-01 -9.08194859e-02\n",
      "  3.62349984e-01 -1.48952325e-06  1.59891399e-06  1.42848692e+00] 24\n",
      "[-0.10379229 -0.11429293  0.58622438 -3.13301072 -0.1237572   1.57083985\n",
      "  0.07999998 -0.93835716  1.03755851  2.1891608  -2.39487805 -0.7767028\n",
      "  1.72923292  0.82823863  1.        ] 15\n",
      "[-0.12391013 -0.11525956  0.58642313  3.12124816 -0.13201824  1.61112357\n",
      "  1.        ]\n",
      "episode_0554383.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554200.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  1.72853088e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  3.09265800e-02  6.55102022e-02\n",
      "  4.60989717e-01  5.36445888e-06 -3.79891884e-06  1.52070580e+00\n",
      "  2.52126382e-01 -2.67284932e-01  3.62329262e-01 -7.38879663e-04\n",
      " -8.85624457e-05  1.31544876e+00  1.48292230e-01 -2.58861221e-01\n",
      "  3.62330759e-01  6.77304841e-05  4.60025777e-04  1.43083973e+00] 24\n",
      "[ 1.53188659e-01 -3.69163552e-01  3.60051705e-01  2.97513871e+00\n",
      " -7.93820781e-02  1.47629543e+00  1.06360383e-06 -1.36471770e+00\n",
      "  1.22958584e+00  1.54228784e+00 -2.41259104e+00 -1.48349065e+00\n",
      "  1.98498331e+00  3.71998429e-01 -1.00000000e+00] 15\n",
      "[ 0.15410226 -0.36353798  0.36033298  2.96952358 -0.08333742  1.47542708\n",
      " -1.        ]\n",
      "episode_0554200.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554853.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12362888e-01  1.25297007e-19  1.04370714e-17\n",
      "  0.00000000e+00  0.00000000e+00  3.74363904e-02 -1.01201042e-01\n",
      "  4.59990009e-01  2.06054275e-08 -1.48979361e-08  1.68554222e+00\n",
      "  2.51711620e-01 -3.06551971e-01  3.62349998e-01 -1.11616785e-07\n",
      " -1.33940662e-07  1.31415032e+00  3.28510167e-02  8.10174001e-02\n",
      "  4.60989290e-01  1.29651926e-04  1.09752334e-06  1.79920468e+00] 24\n",
      "[ 0.04421815 -0.0226008   0.54657979 -3.08880253 -0.14593009  1.6627731\n",
      "  0.07999808 -0.50625294  1.04170661  1.74945782 -1.91180986 -0.93167167\n",
      "  1.72578896  0.55809555  1.        ] 15\n",
      "[ 0.04264992 -0.03115092  0.54768064 -3.0864614  -0.14449052  1.66401545\n",
      "  1.        ]\n",
      "episode_0554853.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554164.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16602933e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  3.09309267e-02  6.55136544e-02\n",
      "  4.60989717e-01  5.37001343e-06 -3.79852099e-06  1.52045692e+00\n",
      "  2.51940506e-01 -3.07650219e-01  3.62348296e-01  9.25757930e-05\n",
      " -7.81688742e-05  1.31013885e+00  1.48276153e-01 -2.99577822e-01\n",
      "  3.62347769e-01 -1.43869669e-04 -7.44511570e-07  1.43071272e+00] 24\n",
      "[ 0.11795714 -0.28550983  0.54292305  3.12018824 -0.13054246  1.51904637\n",
      "  0.08000086 -1.25830311  1.11868891  1.93412832 -2.23058771 -0.96082844\n",
      "  1.71237514  0.31639054  1.        ] 15\n",
      "[ 0.12496621 -0.30384682  0.53844849  3.10957885 -0.12235761  1.51878989\n",
      "  1.        ]\n",
      "episode_0554164.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554866.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12362889e-01  1.25297007e-19  1.20272346e-17\n",
      "  0.00000000e+00  0.00000000e+00  3.74363923e-02 -1.01201040e-01\n",
      "  4.59990009e-01  6.81480194e-08 -1.02371286e-08  1.68554222e+00\n",
      "  2.51711622e-01 -3.06551973e-01  3.62349997e-01 -1.03195656e-08\n",
      " -1.54117817e-07  1.31415031e+00  3.28548034e-02  8.10162162e-02\n",
      "  4.60987877e-01  2.85435228e-04 -9.21483690e-07  1.79925982e+00] 24\n",
      "[ 0.00730943 -0.1175154   0.53420831 -3.08910609 -0.12042248  1.72005088\n",
      "  0.07999623 -0.82495588  1.11774416  1.90798039 -2.21458308 -0.93289456\n",
      "  1.6994152   0.51694737  1.        ] 15\n",
      "[ 0.00921307 -0.11800006  0.53278074 -3.10540241 -0.12421294  1.71269932\n",
      "  1.        ]\n",
      "episode_0554866.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555100.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  8.80240516e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04227507e-02 -8.73436151e-02\n",
      "  4.59990010e-01 -8.96024045e-12  5.12413691e-12 -2.92824313e+00\n",
      "  2.04498181e-01 -6.05531836e-02  4.59989255e-01  0.00000000e+00\n",
      " -1.57079633e+00  3.74553150e+00  3.28683401e-02  8.09828380e-02\n",
      "  4.60987877e-01  2.85451657e-04 -9.11108502e-07  1.80025811e+00] 24\n",
      "[ 0.27504102 -0.01188762  0.58520125  3.05852747 -0.15236947  1.60026451\n",
      "  0.07985199 -0.07944497  1.12919649  1.55508458 -1.06448381 -1.15894393\n",
      "  1.54631753  0.21362989  1.        ] 15\n",
      "[ 0.27068268 -0.02021915  0.58063425  3.06661082 -0.14157319  1.60475195\n",
      "  1.        ]\n",
      "episode_0555100.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554471.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.48543264e-02 -1.88736359e-09  1.38695132e-19  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.74223223e-02 -1.01544056e-01\n",
      "  4.59990009e-01  2.24027240e-08 -8.84631380e-09  1.68543845e+00\n",
      "  2.51752504e-01 -1.00275363e-01  3.62349979e-01 -1.40497187e-06\n",
      "  2.98641549e-07  1.31319923e+00  1.48040735e-01 -9.08196289e-02\n",
      "  3.62349998e-01 -9.67449041e-08  7.79273936e-08  1.42848672e+00] 24\n",
      "[ 0.04151055 -0.15820095  0.56577748  3.11755869 -0.13777519  1.38031557\n",
      "  0.07999533 -1.10207664  0.88382249  2.00432225 -2.26321077 -0.79487836\n",
      "  1.86526556  0.6633159   1.        ] 15\n",
      "[ 0.04889139 -0.16152822  0.56487939  3.13019544 -0.13231283  1.37068799\n",
      "  1.        ]\n",
      "episode_0554471.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555241.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12197024e-01  1.25297007e-19  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04285962e-02 -8.73478699e-02\n",
      "  4.59989220e-01 -5.46310712e-05 -1.61778527e-06 -2.92820639e+00\n",
      "  2.01102298e-01 -2.94370096e-01  3.62349447e-01  0.00000000e+00\n",
      " -1.57079633e+00  3.47294368e+00  3.28559809e-02  8.09629514e-02\n",
      "  4.60988554e-01  9.39712878e-05 -3.57814395e-06  1.80014581e+00] 24\n",
      "[ 0.20646586 -0.19720842  0.58163632 -3.0962781  -0.04129832  1.36481979\n",
      "  0.08000005 -0.71666088  1.0141304   1.72679476 -1.66559856 -0.94482842\n",
      "  1.51474499  0.4409776   1.        ] 15\n",
      "[ 0.20874352 -0.19461876  0.58603441 -3.11756437 -0.04976826  1.35973173\n",
      "  1.        ]\n",
      "episode_0555241.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554517.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.48543264e-02  2.33178540e-13  1.38695132e-19  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.74223222e-02 -1.01544055e-01\n",
      "  4.59990010e-01 -6.41934262e-11 -2.28193156e-11  1.68543845e+00\n",
      "  2.51752534e-01 -1.00275374e-01  3.62349999e-01  2.47625502e-12\n",
      " -1.30290536e-13  1.31319892e+00  1.48040739e-01 -9.08196359e-02\n",
      "  3.62349999e-01 -3.65523093e-13 -3.81620057e-14  1.42848667e+00] 24\n",
      "[ 2.67315286e-01  6.44580995e-02  6.45760486e-01  3.10380490e+00\n",
      " -3.38462898e-01  1.52039848e+00  3.53076064e-04  2.33407602e-01\n",
      "  1.08768075e+00  1.41619644e+00 -6.38653651e-01 -9.91534008e-01\n",
      "  1.57432063e+00  1.92286839e-01 -1.00000000e+00] 15\n",
      "[ 0.26481592  0.06422596  0.63985339  3.11916912 -0.32475228  1.50895696\n",
      " -1.        ]\n",
      "episode_0554517.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554692.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  9.13188302e-13  1.25297007e-19 -7.50711294e-05\n",
      "  0.00000000e+00  0.00000000e+00  3.74223222e-02 -1.01544055e-01\n",
      "  4.59990010e-01 -6.41939891e-11 -2.28190037e-11  1.68543845e+00\n",
      "  2.51752534e-01 -1.00275374e-01  3.62349999e-01  2.20534718e-12\n",
      " -1.13839760e-13  1.31319892e+00  1.48040739e-01 -9.08196359e-02\n",
      "  3.62349999e-01 -3.63602066e-13 -6.15230151e-14  1.42848667e+00] 24\n",
      "[ 0.00793558 -0.15193642  0.55936853 -3.12053105 -0.1054679   1.48577774\n",
      "  0.08       -0.96382938  1.09457203  2.00737671 -2.26576287 -0.90904063\n",
      "  1.68076884  0.70626683  1.        ] 15\n",
      "[ 0.02546126 -0.15870808  0.56014435 -3.12703697 -0.11196015  1.4797629\n",
      "  1.        ]\n",
      "episode_0554692.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555198.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12189759e-01  1.25297007e-19  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04261008e-02 -8.73480504e-02\n",
      "  4.59990010e-01 -1.09136463e-09  5.51003739e-10 -2.92827924e+00\n",
      "  2.01104408e-01 -2.94366004e-01  3.62343064e-01  0.00000000e+00\n",
      " -1.57079633e+00  3.47299464e+00  3.28605185e-02  8.09688414e-02\n",
      "  4.60988554e-01  9.39719008e-05 -3.57788323e-06  1.80025763e+00] 24\n",
      "[ 0.1905185  -0.28538221  0.41898346  3.03383107  0.07510824  1.51087091\n",
      "  0.07986298 -0.98637755  1.13796649  1.60882431 -2.11980126 -1.30826431\n",
      "  1.73480906  0.39647188  1.        ] 15\n",
      "[ 0.18660485 -0.28557819  0.42412609  3.03821543  0.06207479  1.51537518\n",
      "  1.        ]\n",
      "episode_0555198.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554513.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.48543264e-02  2.18000648e-13  1.38695132e-19  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.74223222e-02 -1.01544055e-01\n",
      "  4.59990010e-01 -6.41936814e-11 -2.28196609e-11  1.68543845e+00\n",
      "  2.51752534e-01 -1.00275374e-01  3.62349999e-01  2.20559991e-12\n",
      " -1.12819226e-13  1.31319892e+00  1.48040739e-01 -9.08196359e-02\n",
      "  3.62349999e-01 -3.62967923e-13 -6.17490094e-14  1.42848667e+00] 24\n",
      "[ 0.26850553  0.05353705  0.65691894  3.10982433 -0.35811815  1.54155299\n",
      "  0.01332464  0.18396272  1.07213174  1.43519668 -0.67698669 -0.95925477\n",
      "  1.57699029  0.17076451 -1.        ] 15\n",
      "[ 0.26866871  0.05690552  0.65541522  3.10831331 -0.35740139  1.53183325\n",
      " -1.        ]\n",
      "episode_0554513.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554479.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.48543264e-02 -7.31667777e-10  1.38695132e-19  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.74223225e-02 -1.01544055e-01\n",
      "  4.59990009e-01  1.30944921e-08 -6.54114724e-09  1.68543845e+00\n",
      "  2.51752515e-01 -1.00275364e-01  3.62349984e-01 -9.92904491e-07\n",
      "  2.05380219e-07  1.31319895e+00  1.48040737e-01 -9.08196335e-02\n",
      "  3.62349999e-01 -6.38155461e-08  5.11833600e-08  1.42848668e+00] 24\n",
      "[ 0.10181433 -0.16439589  0.54863307  3.13248628 -0.04321302  1.38780763\n",
      "  0.07999861 -0.93160934  0.81546417  1.80560061 -2.06891131 -0.80190291\n",
      "  1.79386484  0.55409813  1.        ] 15\n",
      "[ 0.11127511 -0.16177715  0.54684359  3.1337883  -0.03866678  1.39896436\n",
      "  1.        ]\n",
      "episode_0554479.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554723.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  6.56241058e-07  1.25297007e-19 -7.08925476e-17\n",
      "  0.00000000e+00  0.00000000e+00  3.74452041e-02 -1.01200066e-01\n",
      "  4.59981558e-01  4.44179496e-04 -3.77106917e-07  1.68554308e+00\n",
      "  2.51753022e-01 -1.00274751e-01  3.62349999e-01  8.71124428e-10\n",
      " -2.67491566e-09  1.31317353e+00  1.48046335e-01 -9.08151230e-02\n",
      "  3.62332488e-01  9.77765997e-04 -2.66697131e-05  1.42874579e+00] 24\n",
      "[ 0.166965   -0.22978198  0.40807825  3.11017633 -0.12726739  1.53567463\n",
      "  0.07999928 -0.9712444   1.21797824  1.58844643 -2.1480339  -1.2423905\n",
      "  1.87628027  0.40020332  1.        ] 15\n",
      "[ 0.16580879 -0.22702069  0.40026474  3.112885   -0.13268693  1.53051097\n",
      " -1.        ]\n",
      "episode_0554723.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554878.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12362890e-01  1.25297007e-19  1.35017495e-17\n",
      "  0.00000000e+00  0.00000000e+00  3.74363941e-02 -1.01201037e-01\n",
      "  4.59990009e-01  4.98478560e-08 -1.17994903e-08  1.68554220e+00\n",
      "  2.51711621e-01 -3.06551974e-01  3.62349998e-01 -6.98029833e-08\n",
      " -1.40562090e-07  1.31415029e+00  3.28554924e-02  8.10145019e-02\n",
      "  4.60987877e-01  2.85450612e-04 -9.21194081e-07  1.79931094e+00] 24\n",
      "[ 0.0384554  -0.09880399  0.48168906  3.12646326 -0.054452    1.61091109\n",
      "  0.07999769 -0.72425472  1.03793691  1.74692813 -2.18145366 -1.04215226\n",
      "  1.79448921  0.63474801  1.        ] 15\n",
      "[ 0.03742869 -0.09676178  0.47845966  3.13209225 -0.04585959  1.62265131\n",
      " -1.        ]\n",
      "episode_0554878.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554803.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12359680e-01  1.25297007e-19  4.24989098e-18\n",
      "  0.00000000e+00  0.00000000e+00  3.74363882e-02 -1.01201061e-01\n",
      "  4.59990009e-01 -1.77968366e-08 -1.83891033e-08  1.68554332e+00\n",
      "  2.51714396e-01 -3.06550531e-01  3.62349988e-01  8.57787420e-09\n",
      " -5.79301188e-07  1.31426555e+00  1.64080686e-01 -2.95684195e-01\n",
      "  4.49274461e-01 -5.69169631e-02 -9.16424998e-02  1.49353259e+00] 24\n",
      "[ 0.16452631 -0.29960209  0.44432939  3.06056483  0.02677963  1.51138519\n",
      "  0.04038095 -1.11681504  1.06819771  1.68036799 -2.20250844 -1.18389345\n",
      "  1.79013311  0.35432232 -1.        ] 15\n",
      "[ 0.16310317 -0.29427987  0.45673073  3.06495551  0.01232409  1.52435625\n",
      " -1.        ]\n",
      "episode_0554803.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553777.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  8.80261594e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45232275e-01 -7.17804092e-02\n",
      "  4.59990010e-01 -8.31698254e-10  5.61869173e-10  1.83724642e+00\n",
      "  1.98249992e-01 -6.68893889e-02  4.88360592e-01 -3.12793577e-02\n",
      "  6.29130026e-02  1.79184111e+00  2.54335101e-02 -1.03039058e-01\n",
      "  4.59990010e-01  3.39216355e-10 -1.88223608e-11  1.46114331e+00] 24\n",
      "[ 0.19894022 -0.07371665  0.49925202  3.07292995 -0.10323822  1.61645361\n",
      "  0.04173195 -0.47664445  1.13841446  1.60312808 -1.69565286 -1.16238291\n",
      "  1.71549705  0.39637868 -1.        ] 15\n",
      "[ 0.20683311 -0.07530145  0.4976982   3.06789688 -0.10093963  1.6038518\n",
      " -1.        ]\n",
      "episode_0553777.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553618.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  2.71484224e-17\n",
      "  0.00000000e+00  0.00000000e+00 -2.45232256e-01 -7.17804331e-02\n",
      "  4.59990010e-01 -4.86654127e-10  3.07485450e-10  1.83724819e+00\n",
      " -4.57917463e-03  1.04477298e-01  4.60990053e-01 -1.23022369e-06\n",
      " -3.18646486e-06  2.08586747e+00  6.32314591e-02 -1.68261143e-02\n",
      "  5.07915398e-01  3.81320153e-02 -2.19591440e-02  1.47016874e+00] 24\n",
      "[ 0.06142071 -0.03947974  0.51656603  3.08523204 -0.11191506  1.48028315\n",
      "  0.04116869 -0.56953568  0.96626688  1.70379545 -2.01556085 -1.02280325\n",
      "  1.83028525  0.76137966 -1.        ] 15\n",
      "[ 0.05935913 -0.04822597  0.51503508  3.09104769 -0.10027025  1.47603133\n",
      " -1.        ]\n",
      "episode_0553618.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554585.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.48543264e-02  4.96034650e-13  1.38695132e-19 -7.50711294e-05\n",
      "  0.00000000e+00  1.00000000e+00  3.74223222e-02 -1.01544055e-01\n",
      "  4.59990010e-01 -6.41932665e-11 -2.28188045e-11  1.68543845e+00\n",
      "  2.51752534e-01 -1.00275374e-01  3.62349999e-01  2.20305979e-12\n",
      " -1.13709733e-13  1.31319892e+00  1.48040739e-01 -9.08196359e-02\n",
      "  3.62349999e-01 -3.61904790e-13 -6.15414115e-14  1.42848667e+00] 24\n",
      "[-7.99936331e-02 -1.35286695e-01  5.40353220e-01  3.12695678e+00\n",
      " -7.03079470e-02  1.93495174e+00  8.62020643e-04 -8.83221745e-01\n",
      "  1.18081377e+00  2.07421962e+00 -2.42745701e+00 -9.39113322e-01\n",
      "  1.63847936e+00  4.98731156e-01 -1.00000000e+00] 15\n",
      "[-0.08448859 -0.1349958   0.53816915  3.11258454 -0.08261197  1.92834073\n",
      " -1.        ]\n",
      "episode_0554585.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553588.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  2.34765910e-17\n",
      "  0.00000000e+00  0.00000000e+00 -2.45232260e-01 -7.17804363e-02\n",
      "  4.59990007e-01 -1.73302516e-07 -8.94148719e-08  1.83724820e+00\n",
      " -4.57917464e-03  1.04477298e-01  4.60990053e-01 -1.23059930e-06\n",
      " -3.18701710e-06  2.08586747e+00  6.86276199e-02  8.52458670e-02\n",
      "  4.60989983e-01  4.20038730e-08 -3.67346798e-06  1.55915493e+00] 24\n",
      "[ 0.05598721 -0.00491205  0.53998164  3.00132947 -0.1411982   1.47865574\n",
      "  0.07999897 -0.49860644  0.86455801  1.6852942  -1.97598414 -1.02006567\n",
      "  1.88961037  0.80755102  1.        ] 15\n",
      "[ 5.88534204e-02  8.20161444e-04  5.36818923e-01  3.00055579e+00\n",
      " -1.45571300e-01  1.47866274e+00  1.00000000e+00]\n",
      "episode_0553588.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554311.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.56806920e-07  1.35764860e-13  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.09254404e-02  6.55386832e-02\n",
      "  4.60976076e-01 -5.41414029e-05 -5.49064363e-04  1.52081129e+00\n",
      "  2.51751248e-01 -1.00275883e-01  3.62349999e-01  4.79820328e-09\n",
      " -1.25991775e-10  1.31324857e+00  1.48040654e-01 -9.08197395e-02\n",
      "  3.62349999e-01 -1.07790215e-09  4.51034300e-10  1.42848714e+00] 24\n",
      "[ 0.03455324 -0.03681133  0.53533286  3.09037181 -0.26198809  1.54835609\n",
      "  0.07999954 -0.70568992  0.96802287  1.78515246 -2.15206462 -0.98600946\n",
      "  2.00142824  0.71372535  1.        ] 15\n",
      "[ 0.03568269 -0.02789666  0.53184299  3.08783329 -0.25957368  1.54682655\n",
      "  1.        ]\n",
      "episode_0554311.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553818.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  8.80035111e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45232820e-01 -7.17808436e-02\n",
      "  4.59989303e-01 -3.43553754e-05 -2.24893747e-05  1.83723886e+00\n",
      "  2.29550071e-01 -6.97476908e-02  4.59989692e-01 -3.37189136e-05\n",
      " -1.08971212e-05  1.66625991e+00  2.54335301e-02 -1.03039081e-01\n",
      "  4.59989801e-01  4.79456810e-06 -1.78774139e-07  1.46114103e+00] 24\n",
      "[ 0.19240204 -0.22160293  0.52272102  3.04290166 -0.16976257  1.44020436\n",
      "  0.07999983 -0.97019092  1.16480308  1.78175142 -2.03598758 -1.1556681\n",
      "  1.767529    0.46435752  1.        ] 15\n",
      "[ 0.18974207 -0.22701872  0.51846873  3.03951115 -0.16097409  1.44742877\n",
      "  1.        ]\n",
      "episode_0553818.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554924.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12368840e-01  1.25297007e-19  1.91685129e-17\n",
      "  0.00000000e+00  0.00000000e+00  8.53928007e-02 -8.47404782e-02\n",
      "  4.59918839e-01  8.02801136e-05 -8.69059698e-04 -3.04751201e+00\n",
      "  2.51713602e-01 -3.06553551e-01  3.62346496e-01  2.05842437e-04\n",
      " -6.22814701e-06  1.31424772e+00  3.28581374e-02  8.10079335e-02\n",
      "  4.60987877e-01  2.85450828e-04 -9.19111554e-07  1.79950695e+00] 24\n",
      "[ 0.0781003  -0.09805983  0.5086167   3.08592273 -0.02650388  2.9721155\n",
      "  0.07972614 -0.63734834  1.20673903  1.79668422 -2.0124742  -1.11987307\n",
      "  1.58844928 -0.75699913  1.        ] 15\n",
      "[ 0.07917784 -0.10299288  0.51419445  3.10409983 -0.03952012  2.92246422\n",
      "  1.        ]\n",
      "episode_0554924.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555161.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04250624e-02 -8.73496503e-02\n",
      "  4.59989584e-01 -1.15746189e-04  4.52058874e-05 -2.92827228e+00\n",
      "  2.06996841e-01 -2.33045258e-01  4.81792493e-01  2.73209373e+00\n",
      " -1.47703717e+00  6.37467423e-01  3.28644107e-02  8.09738947e-02\n",
      "  4.60988554e-01  9.39724123e-05 -3.57765952e-06  1.80035351e+00] 24\n",
      "[ 0.20497569 -0.22307561  0.48047964  3.10282309  0.09310037  1.6334535\n",
      "  0.04208354 -0.76185402  1.10952442  1.65034202 -1.87362702 -1.18707715\n",
      "  1.57320014  0.26872883 -1.        ] 15\n",
      "[ 0.20285137 -0.23021944  0.47669833  3.09739503  0.10142492  1.63617718\n",
      " -1.        ]\n",
      "episode_0555161.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554101.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16597877e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.24206971e-01 -8.66869742e-02\n",
      "  5.04701842e-01  7.31398808e-02 -7.76620915e-02  1.85510946e+00\n",
      "  2.51938876e-01 -3.07642033e-01  3.62349999e-01  2.15778973e-11\n",
      "  1.14919637e-09  1.31016346e+00  1.48278270e-01 -2.99576649e-01\n",
      "  3.62349999e-01 -1.07060918e-08  6.24457961e-10  1.43071879e+00] 24\n",
      "[-0.220332   -0.09788793  0.51296874 -3.09778505 -0.09429625  1.91996251\n",
      "  0.04064518 -0.83977535  0.97090429  2.16033904 -2.59902235 -0.73207181\n",
      "  1.91042989  0.69041528 -1.        ] 15\n",
      "[-0.21255763 -0.1020518   0.52071577 -3.09260999 -0.10550655  1.92317177\n",
      " -1.        ]\n",
      "episode_0554101.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554713.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  6.07475990e-07  1.25297007e-19 -2.75503182e-16\n",
      "  0.00000000e+00  0.00000000e+00  3.76228684e-02 -1.01256528e-01\n",
      "  4.59798078e-01  8.34493288e-03 -2.37056843e-03  1.68554432e+00\n",
      "  2.51753026e-01 -1.00274764e-01  3.62349987e-01  3.72794066e-07\n",
      " -6.07029553e-07  1.31317353e+00  1.48061091e-01 -9.08178363e-02\n",
      "  3.62320391e-01  1.64353256e-03 -4.21768900e-05  1.42872639e+00] 24\n",
      "[ 0.18058102 -0.25089345  0.47609759  3.08841886 -0.02283119  1.5698897\n",
      "  0.08000011 -0.96849643  1.12434353  1.70344587 -2.0589178  -1.15364072\n",
      "  1.71201983  0.31877389  1.        ] 15\n",
      "[ 0.17946988 -0.25200265  0.46729663  3.08530157 -0.02612909  1.57794059\n",
      "  1.        ]\n",
      "episode_0554713.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553963.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16620625e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45233204e-01 -7.17781619e-02\n",
      "  4.59989970e-01 -2.88749385e-06 -8.16892771e-07  1.83719775e+00\n",
      "  2.29582580e-01 -6.97410670e-02  4.59988820e-01 -1.17276956e-05\n",
      "  7.69458688e-05  1.66625281e+00  1.48266953e-01 -2.99615967e-01\n",
      "  3.62347876e-01 -4.35281115e-06  2.71720416e-05  1.43074878e+00] 24\n",
      "[ 0.14822349 -0.30352995  0.4610819   3.04499337 -0.0384931   1.42908928\n",
      "  0.07999872 -1.22416844  1.04837902  1.74639168 -2.27934401 -1.13790047\n",
      "  1.85364585  0.42478769  1.        ] 15\n",
      "[ 0.14959542 -0.30337589  0.47300242  3.04939151 -0.04823184  1.42501066\n",
      "  1.        ]\n",
      "episode_0553963.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553900.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16683424e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45233917e-01 -7.17796666e-02\n",
      "  4.59988536e-01 -9.64909254e-05 -2.64181235e-05  1.83721891e+00\n",
      "  2.29560625e-01 -6.97431344e-02  4.59988820e-01 -1.17276838e-05\n",
      "  7.69450299e-05  1.66628829e+00  2.54324472e-02 -1.03041181e-01\n",
      "  4.59989512e-01  4.27082602e-05 -1.29315846e-06  1.46121436e+00] 24\n",
      "[ 0.02442414 -0.15981894  0.54097125 -3.06606455 -0.19020577  1.48905088\n",
      "  0.07999889 -1.05803671  1.05225707  1.94914104 -2.30728483 -0.83535403\n",
      "  1.83880017  0.58893624  1.        ] 15\n",
      "[ 0.02174554 -0.15314046  0.53776872 -3.0697234  -0.18609327  1.48934339\n",
      "  1.        ]\n",
      "episode_0553900.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554587.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.48543264e-02  5.03575907e-13  1.38695132e-19 -7.50711294e-05\n",
      "  0.00000000e+00  1.00000000e+00  3.74223222e-02 -1.01544055e-01\n",
      "  4.59990010e-01 -6.41945693e-11 -2.28191844e-11  1.68543845e+00\n",
      "  2.51752534e-01 -1.00275374e-01  3.62349999e-01  2.20341811e-12\n",
      " -1.13743391e-13  1.31319892e+00  1.48040739e-01 -9.08196359e-02\n",
      "  3.62349999e-01 -3.61529335e-13 -6.13493210e-14  1.42848667e+00] 24\n",
      "[-8.92795917e-02 -1.34474581e-01  5.34763602e-01  3.09894455e+00\n",
      " -9.85245763e-02  1.92094899e+00  1.43760659e-04 -9.11775108e-01\n",
      "  1.20035853e+00  2.08405357e+00 -2.48427038e+00 -9.65222080e-01\n",
      "  1.68505934e+00  5.36702726e-01 -1.00000000e+00] 15\n",
      "[-0.09220605 -0.13396426  0.53191768  3.09473934 -0.10760221  1.91184672\n",
      " -1.        ]\n",
      "episode_0554587.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554603.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.48543264e-02  5.66733819e-13  4.28767871e-04 -7.50711294e-05\n",
      "  0.00000000e+00  0.00000000e+00  3.74223222e-02 -1.01544055e-01\n",
      "  4.59990010e-01 -6.41938249e-11 -2.28192280e-11  1.68543845e+00\n",
      "  2.51752534e-01 -1.00275374e-01  3.62349999e-01  2.36039490e-12\n",
      " -1.11536908e-13  1.31319892e+00  1.48040739e-01 -9.08196359e-02\n",
      "  3.62349999e-01 -3.48801739e-13 -4.53398150e-14  1.42848667e+00] 24\n",
      "[-1.03617216e-01 -1.29828928e-01  5.15916113e-01  3.09139133e+00\n",
      " -7.34326683e-02  1.78597225e+00  1.99582899e-10 -9.17497917e-01\n",
      "  1.12907338e+00  2.07228927e+00 -2.52682923e+00 -9.64782715e-01\n",
      "  1.74764500e+00  6.99019529e-01 -1.00000000e+00] 15\n",
      "[-0.10141448 -0.1300556   0.52612365  3.09453066 -0.0879889   1.77726336\n",
      "  1.        ]\n",
      "episode_0554603.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554515.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.48543264e-02  2.25541907e-13  1.38695132e-19  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.74223222e-02 -1.01544055e-01\n",
      "  4.59990010e-01 -6.41935559e-11 -2.28194902e-11  1.68543845e+00\n",
      "  2.51752534e-01 -1.00275374e-01  3.62349999e-01  2.20522090e-12\n",
      " -1.13044702e-13  1.31319892e+00  1.48040739e-01 -9.08196359e-02\n",
      "  3.62349999e-01 -3.63376334e-13 -6.14946916e-14  1.42848667e+00] 24\n",
      "[ 2.68035396e-01  5.90092692e-02  6.52604903e-01  3.11149809e+00\n",
      " -3.51995638e-01  1.52169923e+00  2.20739646e-03  2.10088007e-01\n",
      "  1.07958700e+00  1.42624542e+00 -6.53565790e-01 -9.73390160e-01\n",
      "  1.57429013e+00  1.88748659e-01 -1.00000000e+00] 15\n",
      "[ 0.26776341  0.06209415  0.64900239  3.10736964 -0.34508999  1.51893287\n",
      " -1.        ]\n",
      "episode_0554515.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554508.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.48543264e-02  1.99369306e-13  1.38695132e-19  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.74223222e-02 -1.01544055e-01\n",
      "  4.59990010e-01 -6.41920824e-11 -2.28196613e-11  1.68543845e+00\n",
      "  2.51752534e-01 -1.00275374e-01  3.62349999e-01  2.24121805e-12\n",
      " -9.70694611e-14  1.31319892e+00  1.48040739e-01 -9.08196359e-02\n",
      "  3.62349999e-01 -3.63238153e-13 -6.23336352e-14  1.42848667e+00] 24\n",
      "[ 0.26513726  0.02464449  0.64685973  3.11799877 -0.27973116  1.56567918\n",
      "  0.07997983  0.10420643  1.04154555  1.42634994 -0.77794345 -0.94193223\n",
      "  1.53415772  0.15730322  1.        ] 15\n",
      "[ 0.2650657   0.02962469  0.649256    3.11631299 -0.2900223   1.56534586\n",
      "  1.        ]\n",
      "episode_0554508.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554229.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01 -7.07375120e-07  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  3.09255603e-02  6.55096632e-02\n",
      "  4.60989235e-01  2.33501310e-05  8.66387212e-06  1.52078401e+00\n",
      "  2.51755910e-01 -1.00268650e-01  3.62343900e-01 -1.08643630e-04\n",
      "  4.32224866e-04  1.31325936e+00  1.48045803e-01 -9.08195523e-02\n",
      "  3.62346961e-01  1.55704938e-04  3.19149379e-06  1.42848343e+00] 24\n",
      "[ 0.14276622 -0.19896107  0.40306764  2.97831033 -0.19820862  1.38628723\n",
      "  0.04643098 -0.99922555  1.21906661  1.59612861 -2.30420681 -1.44377126\n",
      "  1.99621584  0.74213102  1.        ] 15\n",
      "[ 0.13899812 -0.20097688  0.40804867  2.98002935 -0.20298522  1.39841293\n",
      "  1.        ]\n",
      "episode_0554229.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555070.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  3.71518129e-17\n",
      "  0.00000000e+00  0.00000000e+00  9.04227507e-02 -8.73436151e-02\n",
      "  4.59990010e-01 -8.01155620e-12 -5.28500768e-10 -2.92824313e+00\n",
      "  2.04498878e-01 -6.05533356e-02  4.59990010e-01  0.00000000e+00\n",
      " -1.57079633e+00  3.74551411e+00  3.28666142e-02  8.09870566e-02\n",
      "  4.60987877e-01  2.85451516e-04 -9.12458988e-07  1.80013158e+00] 24\n",
      "[ 2.98944199e-01 -2.19951740e-02  4.88811335e-01  3.03225741e+00\n",
      " -4.35422780e-02  1.50708455e+00  4.94607995e-05 -4.15721362e-02\n",
      "  1.17221906e+00  1.38164568e+00 -1.09006689e+00 -1.20766562e+00\n",
      "  1.63473101e+00  2.98133089e-01 -1.00000000e+00] 15\n",
      "[ 0.29824769 -0.01555259  0.49059453  3.03927233 -0.05223805  1.50696876\n",
      " -1.        ]\n",
      "episode_0555070.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553699.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  8.85722602e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45232275e-01 -7.17804093e-02\n",
      "  4.59990010e-01 -8.31969697e-10  5.62070181e-10  1.83724642e+00\n",
      " -4.66618856e-03  1.04639617e-01  4.60893759e-01  5.18898594e-04\n",
      "  9.07630099e-03  2.08556896e+00  2.54335101e-02 -1.03039058e-01\n",
      "  4.59990010e-01  2.41037903e-10 -1.31056460e-11  1.46114331e+00] 24\n",
      "[ 2.88320476e-01  4.25715133e-02  5.65955690e-01  2.98955892e+00\n",
      " -1.48479377e-01  1.54520345e+00  6.45441439e-04  1.38748789e-01\n",
      "  1.15023308e+00  1.43147440e+00 -8.57332315e-01 -1.21630156e+00\n",
      "  1.60366672e+00  2.48931708e-01  1.00000000e+00] 15\n",
      "[ 0.28425091  0.04112873  0.56841479  2.98785731 -0.14358902  1.56101698\n",
      "  1.        ]\n",
      "episode_0553699.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553847.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  9.34793454e-03  0.00000000e+00  8.80009204e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45232533e-01 -7.17803425e-02\n",
      "  4.59989953e-01 -4.57652988e-06 -1.40704349e-06  1.83723394e+00\n",
      "  2.29551514e-01 -6.97474755e-02  4.59990007e-01  1.73461358e-07\n",
      " -4.65552960e-11  1.66629859e+00  2.54334135e-02 -1.03039113e-01\n",
      "  4.59990004e-01 -3.42203484e-07 -7.21928051e-09  1.46113867e+00] 24\n",
      "[ 1.67441102e-01 -2.31196061e-01  3.41796826e-01  2.99879610e+00\n",
      " -7.91463290e-02  1.53320613e+00  1.61008674e-04 -9.43545197e-01\n",
      "  1.22382004e+00  1.45219413e+00 -2.21835815e+00 -1.47836408e+00\n",
      "  1.98515874e+00  5.22494176e-01 -1.00000000e+00] 15\n",
      "[ 0.16906238 -0.23726181  0.33825045  2.9927011  -0.07237611  1.52965776\n",
      " -1.        ]\n",
      "episode_0553847.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554785.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.13322926e-01  1.25297007e-19  2.05257457e-18\n",
      "  0.00000000e+00  0.00000000e+00  3.74363876e-02 -1.01201063e-01\n",
      "  4.59990008e-01  1.69232218e-08 -1.63391362e-08  1.68554332e+00\n",
      "  2.51720518e-01 -3.07149125e-01  3.62349829e-01 -7.65071614e-08\n",
      "  8.73704728e-06  1.31440222e+00  1.47940492e-01 -2.97632786e-01\n",
      "  3.62349946e-01  2.56448629e-06  1.08919502e-07  1.43041427e+00] 24\n",
      "[ 0.15376346 -0.31034655  0.40608883  3.11818476  0.0282432   1.46962617\n",
      "  0.0799985  -1.11880863  1.08213527  1.60239162 -2.22901685 -1.19039813\n",
      "  1.8219437   0.38557098  1.        ] 15\n",
      "[ 0.15277049 -0.30863725  0.39681382  3.10692568  0.03933631  1.47239256\n",
      "  1.        ]\n",
      "episode_0554785.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554280.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  1.74037283e-07  2.63055584e-02  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.09263790e-02  6.55320647e-02\n",
      "  4.60987411e-01  9.19331181e-06 -1.02155139e-04  1.52079975e+00\n",
      "  2.51751155e-01 -1.00275797e-01  3.62349999e-01 -1.81748755e-10\n",
      "  1.75231728e-10  1.31324481e+00  1.48040654e-01 -9.08197396e-02\n",
      "  3.62349999e-01 -9.01392970e-10  6.88482206e-10  1.42848714e+00] 24\n",
      "[-0.1183031  -0.11621079  0.47359279  3.06949977 -0.12275519  1.76653554\n",
      "  0.00409685 -0.95389946  1.03531724  1.99832694 -2.62606209 -1.01693386\n",
      "  1.96938088  0.74923942 -1.        ] 15\n",
      "[-0.11833088 -0.11690135  0.47786921  3.08059547 -0.13765653  1.76287449\n",
      " -1.        ]\n",
      "episode_0554280.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553701.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  8.80261594e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45232275e-01 -7.17804092e-02\n",
      "  4.59990010e-01 -8.31963992e-10  5.62066168e-10  1.83724642e+00\n",
      " -4.64305168e-03  1.04651097e-01  4.60892838e-01  1.81914326e-03\n",
      "  9.00112226e-03  2.08555413e+00  2.54335101e-02 -1.03039058e-01\n",
      "  4.59990010e-01  3.39244404e-10 -1.88093807e-11  1.46114331e+00] 24\n",
      "[ 0.27770525  0.03740753  0.57056379  2.99036618 -0.13392299  1.57979592\n",
      "  0.03873162  0.08852715  1.13221987  1.4548425  -0.9376439  -1.20896952\n",
      "  1.59493769  0.24633214  1.        ] 15\n",
      "[ 0.27139802  0.03274991  0.57117633  2.99374904 -0.12445814  1.59400251\n",
      "  1.        ]\n",
      "episode_0553701.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554100.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16597877e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.28182709e-01 -8.34083615e-02\n",
      "  4.99559344e-01  6.70912955e-02 -7.27480760e-02  1.85298933e+00\n",
      "  2.51938876e-01 -3.07642033e-01  3.62349999e-01  2.32353941e-11\n",
      "  2.44502861e-09  1.31016346e+00  1.48278270e-01 -2.99576649e-01\n",
      "  3.62349999e-01 -2.26999430e-08  1.33204187e-09  1.43071879e+00] 24\n",
      "[-0.22456571 -0.09444259  0.50761741 -3.10396819 -0.08858415  1.91777243\n",
      "  0.04063975 -0.82631476  0.95270222  2.15265486 -2.60296102 -0.73773305\n",
      "  1.92813799  0.70545388 -1.        ] 15\n",
      "[-0.220332   -0.09788793  0.51296874 -3.09778505 -0.09429625  1.91996251\n",
      " -1.        ]\n",
      "episode_0554100.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553689.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  7.07160954e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45232275e-01 -7.17804093e-02\n",
      "  4.59990010e-01 -8.33184721e-10  5.68279593e-10  1.83724642e+00\n",
      " -4.69316255e-03  1.04629306e-01  4.60893107e-01 -9.46654900e-04\n",
      "  9.31520478e-03  2.08564771e+00  2.54335101e-02 -1.03039058e-01\n",
      "  4.59990010e-01  2.67540746e-10 -1.13921424e-11  1.46114331e+00] 24\n",
      "[ 2.84277044e-01  3.16785152e-02  5.29662948e-01  3.04058055e+00\n",
      " -1.20174398e-01  1.50135904e+00  2.08818737e-05  1.01238141e-01\n",
      "  1.16459500e+00  1.39261348e+00 -9.20402511e-01 -1.17445959e+00\n",
      "  1.61541034e+00  2.97928726e-01 -1.00000000e+00] 15\n",
      "[ 0.28521327  0.03425069  0.53334594  3.03836785 -0.12676512  1.50253493\n",
      " -1.        ]\n",
      "episode_0553689.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555178.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04261005e-02 -8.73480502e-02\n",
      "  4.59990009e-01 -6.48266459e-09  3.11064548e-09 -2.92827924e+00\n",
      "  1.88843473e-01 -2.94886581e-01  4.36708438e-01  2.05474032e+00\n",
      " -1.45570744e+00  1.30589045e+00  3.28626193e-02  8.09715689e-02\n",
      "  4.60988554e-01  9.39721852e-05 -3.57776249e-06  1.80030939e+00] 24\n",
      "[ 0.18765362 -0.28560948  0.43480567  3.04904066  0.14071849  1.6065428\n",
      "  0.04270742 -0.95874946  1.11326081  1.63460222 -2.09509651 -1.28944943\n",
      "  1.66237791  0.30574278 -1.        ] 15\n",
      "[ 0.18834773 -0.28586917  0.43203981  3.04688908  0.14080937  1.59767315\n",
      " -1.        ]\n",
      "episode_0555178.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553998.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16621725e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45234839e-01 -7.17781985e-02\n",
      "  4.59990009e-01 -3.06091427e-09  2.34770217e-10  1.83730185e+00\n",
      "  2.21993313e-01 -7.05723303e-02  4.60413768e-01 -6.46514357e-03\n",
      " -6.03945198e-03  1.54864152e+00  1.48267738e-01 -2.99618302e-01\n",
      "  3.62349999e-01  1.28200189e-09 -1.17485225e-09  1.43075329e+00] 24\n",
      "[ 0.2229493  -0.07985108  0.46522732  3.04135533  0.03090261  1.62546393\n",
      "  0.0395802  -0.36764977  1.05071054  1.43973679 -1.6132196  -1.15658134\n",
      "  1.72191927  0.34909103 -1.        ] 15\n",
      "[ 0.2236983  -0.08230093  0.46782168  3.04356765  0.02252025  1.61952831\n",
      " -1.        ]\n",
      "episode_0553998.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554239.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  9.84998855e-08  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  3.09242450e-02  6.55037017e-02\n",
      "  4.60976780e-01 -2.66708508e-05 -5.04220730e-04  1.52078667e+00\n",
      "  2.51758178e-01 -1.00279810e-01  3.62344986e-01  3.91431570e-04\n",
      " -1.14467872e-04  1.31325300e+00  1.48040684e-01 -9.08196610e-02\n",
      "  3.62349965e-01  1.55597517e-06  2.38112052e-07  1.42848718e+00] 24\n",
      "[ 0.1077007  -0.25066371  0.47766395  3.04848814 -0.2037208   1.44751352\n",
      "  0.0799965  -1.22064115  1.25273094  1.82773995 -2.38596743 -1.20939413\n",
      "  1.85268957  0.54824798  1.        ] 15\n",
      "[ 0.10425334 -0.2559426   0.4834308   3.05546193 -0.20167207  1.44878154\n",
      "  1.        ]\n",
      "episode_0554239.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554832.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12362888e-01  1.25297007e-19  7.80607410e-18\n",
      "  0.00000000e+00  0.00000000e+00  3.74363904e-02 -1.01201042e-01\n",
      "  4.59990009e-01  2.04740432e-08 -1.49288330e-08  1.68554222e+00\n",
      "  2.51711617e-01 -3.06551996e-01  3.62349973e-01  9.95320110e-08\n",
      " -1.37366383e-06  1.31415032e+00  4.65180531e-02  6.25768932e-02\n",
      "  4.99236285e-01 -1.04748650e-02 -2.02401311e-01  1.72640425e+00] 24\n",
      "[ 0.04734855  0.05875595  0.49534384  3.10685615 -0.08651787  1.75362518\n",
      "  0.04046954 -0.19474926  1.00499173  1.52715532 -1.74576923 -1.03035835\n",
      "  1.79282532  0.53647554 -1.        ] 15\n",
      "[ 0.0439822   0.06356152  0.48961307  3.09853244 -0.07733456  1.757727\n",
      " -1.        ]\n",
      "episode_0554832.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553734.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  8.80261594e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45232275e-01 -7.17804092e-02\n",
      "  4.59990010e-01 -8.31850403e-10  5.61981080e-10  1.83724642e+00\n",
      " -4.64689832e-03  1.04665903e-01  4.60885409e-01  2.15681843e-03\n",
      "  9.66223234e-03  2.08529503e+00  2.54335101e-02 -1.03039058e-01\n",
      "  4.59990010e-01  2.67429408e-10 -1.13902262e-11  1.46114331e+00] 24\n",
      "[ 0.01094825  0.06313679  0.49348564  3.10455802 -0.13580277  1.87374703\n",
      "  0.0799998  -0.23529239  1.13355682  1.63717516 -1.84137406 -1.13244444\n",
      "  1.76737006  0.5230695   1.        ] 15\n",
      "[ 0.01027631  0.0696655   0.49147826  3.11193045 -0.14368782  1.86702102\n",
      "  1.        ]\n",
      "episode_0553734.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554032.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16622434e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45236212e-01 -7.17785159e-02\n",
      "  4.59990009e-01 -4.07832023e-09  2.69946267e-10  1.83736646e+00\n",
      "  2.47938797e-01 -3.03915914e-01  3.87502602e-01 -5.42022142e-02\n",
      "  7.47912413e-02  1.32775008e+00  1.48268249e-01 -2.99619491e-01\n",
      "  3.62349999e-01  1.94742018e-09 -1.32634023e-09  1.43075649e+00] 24\n",
      "[ 0.24523167 -0.31264111  0.39344702  3.00083035  0.12743134  1.39358109\n",
      "  0.04149869 -0.88683442  1.06635988  1.45271074 -1.97075423 -1.31895935\n",
      "  1.79293689  0.41946731 -1.        ] 15\n",
      "[ 0.24646072 -0.31373336  0.39210259  2.99909563  0.11991189  1.38577151\n",
      " -1.        ]\n",
      "episode_0554032.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554664.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.65709759e-01  8.04782849e-13  1.25297007e-19 -7.50711294e-05\n",
      "  0.00000000e+00  0.00000000e+00  3.74223222e-02 -1.01544055e-01\n",
      "  4.59990010e-01 -6.41945689e-11 -2.28192604e-11  1.68543845e+00\n",
      "  2.51752534e-01 -1.00275374e-01  3.62349999e-01  2.90202865e-12\n",
      " -1.28651490e-13  1.31319892e+00  1.48040739e-01 -9.08196359e-02\n",
      "  3.62349999e-01 -3.35872381e-13  8.75665262e-15  1.42848667e+00] 24\n",
      "[-0.2200216  -0.01851866  0.52248847  3.09473952 -0.05930713  1.79158277\n",
      "  0.04524803 -0.49047618  0.87946366  1.99957728 -2.37859796 -0.8651731\n",
      "  1.86443342  0.95597993 -1.        ] 15\n",
      "[-0.22884151 -0.01911184  0.52385194  3.09094913 -0.06643234  1.80441342\n",
      " -1.        ]\n",
      "episode_0554664.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554335.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.56877450e-07  1.38695132e-19  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.64657887e-02  4.59123568e-02\n",
      "  4.80417204e-01  3.61385883e-02 -4.14368149e-02  1.56080892e+00\n",
      "  2.51751247e-01 -1.00275883e-01  3.62349999e-01  4.34095657e-12\n",
      "  1.10344321e-12  1.31324857e+00  1.48040654e-01 -9.08197395e-02\n",
      "  3.62349999e-01 -8.97110796e-10  6.94101036e-10  1.42848714e+00] 24\n",
      "[ 0.03658759  0.03933285  0.48262247  3.08294654 -0.1920782   1.54661514\n",
      "  0.04114312 -0.3621635   0.96533443  1.5570745  -1.9589941  -1.0632647\n",
      "  1.99157366  0.78899209 -1.        ] 15\n",
      "[ 0.03689172  0.03185727  0.48634328  3.09439199 -0.19335021  1.54854546\n",
      " -1.        ]\n",
      "episode_0554335.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554566.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.48543264e-02  4.24614521e-13  1.38695132e-19 -7.50711294e-05\n",
      "  0.00000000e+00  1.00000000e+00  3.74223222e-02 -1.01544055e-01\n",
      "  4.59990010e-01 -6.41934726e-11 -2.28187209e-11  1.68543845e+00\n",
      "  2.51752534e-01 -1.00275374e-01  3.62349999e-01  2.20500537e-12\n",
      " -1.14277920e-13  1.31319892e+00  1.48040739e-01 -9.08196359e-02\n",
      "  3.62349999e-01 -3.63566073e-13 -6.15657179e-14  1.42848667e+00] 24\n",
      "[ 0.09949752 -0.10541313  0.55257571 -3.12610186 -0.04645566  1.79820843\n",
      "  0.07999944 -0.63182978  1.09736811  1.80987686 -1.89806714 -1.01279176\n",
      "  1.55223086  0.32418959  1.        ] 15\n",
      "[ 0.08643037 -0.10993369  0.55081286 -3.12906645 -0.04586338  1.82270711\n",
      "  1.        ]\n",
      "episode_0554566.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554359.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.57179563e-07  1.38695132e-19  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.68342275e-02 -1.01362616e-01\n",
      "  4.56625945e-01 -7.28472138e-03  1.54709572e-02  1.67503686e+00\n",
      "  2.51751248e-01 -1.00275883e-01  3.62349999e-01  1.59572871e-08\n",
      " -2.52056180e-09  1.31324856e+00  1.48040654e-01 -9.08197395e-02\n",
      "  3.62349999e-01 -6.40411524e-09  3.40704546e-09  1.42848714e+00] 24\n",
      "[ 0.03900555 -0.10981734  0.48126052  3.08260738 -0.09684691  1.54476522\n",
      "  0.07524916 -0.81985799  0.9928796   1.77020734 -2.26273985 -1.05069206\n",
      "  1.89454006  0.69478446  1.        ] 15\n",
      "[ 0.03923858 -0.11209386  0.48369166  3.0999739  -0.08744759  1.53391986\n",
      "  1.        ]\n",
      "episode_0554359.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553860.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  1.32290408e-01  0.00000000e+00  8.80009204e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45232470e-01 -7.17802697e-02\n",
      "  4.59989988e-01 -1.54693689e-06 -7.72982401e-07  1.83723143e+00\n",
      "  2.29551513e-01 -6.97474757e-02  4.59990008e-01  1.18394417e-07\n",
      " -1.01938120e-10  1.66629859e+00  2.54334158e-02 -1.03039112e-01\n",
      "  4.59990006e-01 -2.95333742e-07  1.90499949e-08  1.46113869e+00] 24\n",
      "[ 1.84412514e-01 -3.48120560e-01  3.40960450e-01  3.02325083e+00\n",
      " -3.80209965e-02  1.38901817e+00  1.02738102e-06 -1.18118109e+00\n",
      "  1.19827215e+00  1.46418689e+00 -2.25905029e+00 -1.44385862e+00\n",
      "  1.95943647e+00  4.56619150e-01 -1.00000000e+00] 15\n",
      "[ 0.18394557 -0.36030439  0.34232754  3.02740782 -0.03414826  1.37861784\n",
      " -1.        ]\n",
      "episode_0553860.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554902.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12364221e-01  1.25297007e-19  1.64796915e-17\n",
      "  0.00000000e+00  0.00000000e+00  6.72112219e-02 -8.10894173e-02\n",
      "  4.97083421e-01 -7.12374748e-02  1.00307308e-02  2.56257564e+00\n",
      "  2.51711877e-01 -3.06552218e-01  3.62349278e-01  4.56606101e-05\n",
      " -6.86832353e-06  1.31418148e+00  3.28568849e-02  8.10110406e-02\n",
      "  4.60987877e-01  2.85450727e-04 -9.20097320e-07  1.79941420e+00] 24\n",
      "[ 0.0619855  -0.07951856  0.51348151  3.05890791 -0.04425744  2.52391812\n",
      "  0.04027543 -0.63776008  1.15926324  1.79494827 -2.05417589 -1.10667718\n",
      "  1.66993786 -0.27830328 -1.        ] 15\n",
      "[ 0.06198613 -0.07948028  0.51196216  3.06481139 -0.0425267   2.57888625\n",
      " -1.        ]\n",
      "episode_0554902.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554170.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16605641e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  3.09301999e-02  6.55130772e-02\n",
      "  4.60989717e-01  5.36904279e-06 -3.79858896e-06  1.52049853e+00\n",
      "  2.51940629e-01 -3.07653638e-01  3.62348296e-01  9.25804645e-05\n",
      " -7.81740836e-05  1.31012607e+00  1.48276529e-01 -2.99580271e-01\n",
      "  3.62347769e-01 -1.43860250e-04 -7.44510982e-07  1.43070957e+00] 24\n",
      "[ 0.15474685 -0.38004545  0.50847071  3.08421116 -0.05869382  1.50132797\n",
      "  0.07999987 -1.38849384  1.14595555  1.86250272 -2.23370872 -1.07821189\n",
      "  1.6984073   0.18294496  1.        ] 15\n",
      "[ 0.15853426 -0.39231591  0.50196552  3.07768389 -0.04503035  1.5031282\n",
      "  1.        ]\n",
      "episode_0554170.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555233.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12194646e-01  1.25297007e-19  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04279944e-02 -8.73482829e-02\n",
      "  4.59989220e-01 -5.46310291e-05 -1.61836506e-06 -2.92823760e+00\n",
      "  2.01102868e-01 -2.94368721e-01  3.62349447e-01  0.00000000e+00\n",
      " -1.57079633e+00  3.47296013e+00  3.28568218e-02  8.09640429e-02\n",
      "  4.60988554e-01  9.39714013e-05 -3.57809563e-06  1.80016653e+00] 24\n",
      "[ 0.17532154 -0.21806363  0.54818886 -2.96633253  0.05900939  1.3925733\n",
      "  0.079999   -0.71607181  1.03336846  1.6873876  -1.68270536 -0.87744425\n",
      "  1.40959432  0.4252373   1.        ] 15\n",
      "[ 0.1841621  -0.21722975  0.55568825 -2.96461889  0.04667533  1.38313918\n",
      "  1.        ]\n",
      "episode_0555233.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553802.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  8.80054860e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45232327e-01 -7.17804723e-02\n",
      "  4.59989994e-01 -3.49008295e-06 -2.45629658e-06  1.83724635e+00\n",
      "  2.29549335e-01 -6.97467995e-02  4.59989825e-01  5.40386923e-06\n",
      "  2.47558561e-06  1.66617848e+00  2.54335023e-02 -1.03039057e-01\n",
      "  4.59990010e-01 -3.72236499e-07  9.09748465e-09  1.46114330e+00] 24\n",
      "[ 0.20031415 -0.11314118  0.54058187  3.06974723 -0.1656876   1.54295182\n",
      "  0.07999993 -0.63116781  1.13078835  1.7085179  -1.77425352 -1.12161139\n",
      "  1.71578227  0.43163482  1.        ] 15\n",
      "[ 0.19733181 -0.12083749  0.54378028  3.06281519 -0.16844131  1.53667563\n",
      "  1.        ]\n",
      "episode_0553802.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553909.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16683424e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45232515e-01 -7.17787174e-02\n",
      "  4.59989811e-01 -1.34210977e-05 -4.23323451e-06  1.83721575e+00\n",
      "  2.29563785e-01 -6.97428369e-02  4.59988820e-01 -1.17276855e-05\n",
      "  7.69451519e-05  1.66628319e+00  2.54326430e-02 -1.03042316e-01\n",
      "  4.59986338e-01  7.87770449e-05 -7.10204311e-05  1.46122649e+00] 24\n",
      "[ 0.01766773 -0.10931615  0.496822    3.10716037 -0.12146338  1.46043255\n",
      "  0.07999946 -0.89052287  0.9051867   1.82931164 -2.31087971 -0.94222343\n",
      "  1.96356879  0.75469917  1.        ] 15\n",
      "[ 0.01818744 -0.10621066  0.49112396  3.09457196 -0.11157997  1.45822023\n",
      "  1.        ]\n",
      "episode_0553909.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554302.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.56729404e-07  4.53016671e-10  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.09272895e-02  6.55334468e-02\n",
      "  4.60976126e-01  5.47066429e-05 -5.51035985e-04  1.52080335e+00\n",
      "  2.51751247e-01 -1.00275882e-01  3.62349999e-01  5.18163597e-09\n",
      " -2.37382307e-09  1.31324857e+00  1.48040654e-01 -9.08197395e-02\n",
      "  3.62349999e-01 -6.37427807e-10  4.83330284e-10  1.42848714e+00] 24\n",
      "[-0.01836855 -0.1104121   0.55236966  3.10565417 -0.2780125   1.63692351\n",
      "  0.07999992 -0.98824308  1.10440182  2.00229256 -2.39081064 -0.94378229\n",
      "  1.92511056  0.63580857  1.        ] 15\n",
      "[-0.00846127 -0.10284791  0.55180453  3.10230266 -0.2797454   1.62263272\n",
      "  1.        ]\n",
      "episode_0554302.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554658.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.07551700e-01  7.81013177e-13  1.25297007e-19 -7.50711294e-05\n",
      "  0.00000000e+00  0.00000000e+00  3.74223222e-02 -1.01544055e-01\n",
      "  4.59990010e-01 -6.41937853e-11 -2.28188316e-11  1.68543845e+00\n",
      "  2.51752534e-01 -1.00275374e-01  3.62349999e-01  2.89983186e-12\n",
      " -1.28378967e-13  1.31319892e+00  1.48040739e-01 -9.08196359e-02\n",
      "  3.62349999e-01 -3.37052366e-13  8.59056930e-15  1.42848667e+00] 24\n",
      "[-1.62029692e-01 -2.61875321e-02  5.21808122e-01  3.12623996e+00\n",
      " -2.26028803e-03  1.74319771e+00  4.18035900e-02 -5.08341667e-01\n",
      "  8.82874371e-01  1.93030631e+00 -2.28845845e+00 -8.49296064e-01\n",
      "  1.78762703e+00  8.72065958e-01 -1.00000000e+00] 15\n",
      "[-0.17152073 -0.02431014  0.5217996   3.12216439 -0.01280708  1.74941387\n",
      " -1.        ]\n",
      "episode_0554658.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555237.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12195835e-01  1.25297007e-19  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04282953e-02 -8.73480764e-02\n",
      "  4.59989220e-01 -5.46311040e-05 -1.61807515e-06 -2.92822200e+00\n",
      "  2.01102583e-01 -2.94369408e-01  3.62349447e-01  0.00000000e+00\n",
      " -1.57079633e+00  3.47295191e+00  3.28564014e-02  8.09634972e-02\n",
      "  4.60988554e-01  9.39713445e-05 -3.57811979e-06  1.80015617e+00] 24\n",
      "[ 0.20072899 -0.20743404  0.57131877 -3.06217416 -0.00491326  1.36653661\n",
      "  0.08000004 -0.7189861   1.01634507  1.71246437 -1.66772755 -0.93069719\n",
      "  1.48075866  0.43267425  1.        ] 15\n",
      "[ 0.20213759 -0.20415048  0.57376159 -3.08058348 -0.01137531  1.37270628\n",
      "  1.        ]\n",
      "episode_0555237.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554598.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.48543264e-02  5.46736965e-13  1.58338295e-02 -7.50711294e-05\n",
      "  0.00000000e+00  0.00000000e+00  3.74223222e-02 -1.01544055e-01\n",
      "  4.59990010e-01 -6.41934571e-11 -2.28187195e-11  1.68543845e+00\n",
      "  2.51752534e-01 -1.00275374e-01  3.62349999e-01  2.89349957e-12\n",
      " -1.28739114e-13  1.31319892e+00  1.48040739e-01 -9.08196359e-02\n",
      "  3.62349999e-01 -3.36410627e-13  8.31171922e-15  1.42848667e+00] 24\n",
      "[-1.09676416e-01 -1.31279094e-01  4.85584881e-01  3.05593267e+00\n",
      " -4.09099268e-02  1.83591757e+00  2.70204659e-09 -9.05800972e-01\n",
      "  1.11595050e+00  2.02263809e+00 -2.58437783e+00 -1.04283564e+00\n",
      "  1.78496901e+00  7.00406188e-01 -1.00000000e+00] 15\n",
      "[-0.10932708 -0.13060138  0.48807273  3.06578871 -0.03966528  1.82418512\n",
      " -1.        ]\n",
      "episode_0554598.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553841.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  8.80009204e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45239054e-01 -7.17844479e-02\n",
      "  4.59985665e-01 -3.73280289e-04 -1.13637991e-04  1.83723399e+00\n",
      "  2.29551517e-01 -6.97474743e-02  4.59990005e-01  3.43910627e-07\n",
      "  4.69551975e-08  1.66629859e+00  2.54334077e-02 -1.03039112e-01\n",
      "  4.59990001e-01 -6.01276670e-07  1.74705065e-08  1.46113867e+00] 24\n",
      "[ 0.1580206  -0.21028472  0.37326653  3.03532075 -0.11409813  1.54360505\n",
      "  0.03826349 -0.93246322  1.22667337  1.52108684 -2.2064232  -1.38997919\n",
      "  1.95103537  0.50376572 -1.        ] 15\n",
      "[ 0.15866018 -0.21170903  0.36719791  3.02507413 -0.10951951  1.54715273\n",
      " -1.        ]\n",
      "episode_0553841.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554317.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.56850152e-07  5.66757207e-16  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.09256491e-02  6.55429287e-02\n",
      "  4.60977010e-01 -4.86769430e-05 -5.10765050e-04  1.52080303e+00\n",
      "  2.51751248e-01 -1.00275883e-01  3.62349999e-01  3.36500710e-09\n",
      " -2.44989979e-11  1.31324857e+00  1.48040654e-01 -9.08197395e-02\n",
      "  3.62349999e-01 -9.89990151e-10  5.41130826e-10  1.42848714e+00] 24\n",
      "[ 0.03408822  0.01440893  0.51018671  3.07843652 -0.23445057  1.54194625\n",
      "  0.07999947 -0.49717523  0.93014175  1.64572249 -2.04278762 -1.02056384\n",
      "  2.02704055  0.77184313  1.        ] 15\n",
      "[ 0.03331113  0.02052295  0.50658406  3.06890576 -0.23234987  1.5458812\n",
      "  1.        ]\n",
      "episode_0554317.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554365.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.58854331e-07  1.38695132e-19  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.72994453e-02 -1.01616773e-01\n",
      "  4.59945184e-01 -7.42042196e-04 -8.67708949e-07  1.68543296e+00\n",
      "  2.51751251e-01 -1.00275888e-01  3.62349997e-01  1.86007051e-07\n",
      " -8.18636727e-08  1.31324854e+00  1.48040653e-01 -9.08197387e-02\n",
      "  3.62349999e-01 -8.81439358e-08  4.26089166e-08  1.42848713e+00] 24\n",
      "[ 0.0279025  -0.119776    0.51106662 -3.12520497 -0.10264283  1.54072633\n",
      "  0.07998107 -0.85717743  1.02236393  1.84505256 -2.23729852 -0.94833201\n",
      "  1.81195833  0.65189423  1.        ] 15\n",
      "[ 0.02224188 -0.12098674  0.51939409 -3.10592308 -0.11268229  1.55227205\n",
      "  1.        ]\n",
      "episode_0554365.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554810.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12360842e-01  1.25297007e-19  5.11725271e-18\n",
      "  0.00000000e+00  0.00000000e+00  3.74363575e-02 -1.01201064e-01\n",
      "  4.59989971e-01  1.23352665e-07  1.45040930e-06  1.68554244e+00\n",
      "  2.51693132e-01 -3.06628223e-01  3.62273945e-01  1.88875750e-05\n",
      " -4.01817246e-03  1.31421100e+00  1.49140092e-01 -2.30897271e-01\n",
      "  5.19085655e-01 -1.11293379e-02 -1.90239563e-01  1.56122347e+00] 24\n",
      "[ 0.14954762 -0.2352999   0.51393789  3.10450436 -0.07274495  1.58470263\n",
      "  0.04038006 -1.02074533  1.0737132   1.79392064 -2.10154738 -1.03379351\n",
      "  1.72675379  0.31861256 -1.        ] 15\n",
      "[ 0.14665667 -0.21905832  0.52194936  3.11802581 -0.08608175  1.58661623\n",
      " -1.        ]\n",
      "episode_0554810.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554091.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16597891e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45237450e-01 -7.17886763e-02\n",
      "  4.59979956e-01 -2.23702055e-04 -5.20817966e-04  1.83742923e+00\n",
      "  2.51938881e-01 -3.07642034e-01  3.62349988e-01  2.37951159e-08\n",
      "  6.47118541e-07  1.31016350e+00  1.48278035e-01 -2.99576620e-01\n",
      "  3.62349764e-01 -1.19919150e-05  2.81809370e-07  1.43071877e+00] 24\n",
      "[-0.23985267 -0.08549054  0.47630738  3.10846435 -0.02657519  1.88327532\n",
      "  0.07999892 -0.76779773  0.82495426  2.12917627 -2.63105197 -0.78562548\n",
      "  2.00951809  0.82236555  1.        ] 15\n",
      "[-0.24176282 -0.08404084  0.47196143  3.11072465 -0.01543818  1.88404294\n",
      "  1.        ]\n",
      "episode_0554091.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554228.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01 -2.77360173e-06  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  3.09261286e-02  6.55098999e-02\n",
      "  4.60988508e-01  5.11958714e-05  2.18387059e-05  1.52078397e+00\n",
      "  2.51756143e-01 -1.00257214e-01  3.62337509e-01 -2.22683100e-04\n",
      "  8.86781962e-04  1.31325666e+00  1.48044107e-01 -9.08167193e-02\n",
      "  3.62348739e-01  6.43194595e-05  3.98622307e-06  1.42848675e+00] 24\n",
      "[ 0.14691436 -0.19636628  0.39693991  2.97814354 -0.18848663  1.37373948\n",
      "  0.01849824 -0.97371399  1.21557302  1.57733184 -2.28465502 -1.45216013\n",
      "  1.99404966  0.75840705  1.        ] 15\n",
      "[ 0.14276622 -0.19896107  0.40306764  2.97831033 -0.19820862  1.38628723\n",
      "  1.        ]\n",
      "episode_0554228.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554138.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16597881e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  3.09929524e-02  6.55909613e-02\n",
      "  4.60830277e-01  2.79854176e-03  3.91885661e-03  1.52035074e+00\n",
      "  2.51938876e-01 -3.07642039e-01  3.62349997e-01  3.27544312e-08\n",
      " -2.08399447e-07  1.31016360e+00  1.48278270e-01 -2.99576649e-01\n",
      "  3.62349999e-01  2.12924827e-11 -8.43183279e-12  1.43071879e+00] 24\n",
      "[ 0.02897817  0.05242389  0.49224089  3.03647289 -0.11539165  1.57048076\n",
      "  0.07875833 -0.26046983  0.82243599  1.48156174 -1.89907889 -0.96905095\n",
      "  1.97749697  0.75440717  1.        ] 15\n",
      "[ 0.02794391  0.04930357  0.4967275   3.03877787 -0.12665562  1.57355081\n",
      "  1.        ]\n",
      "episode_0554138.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554270.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  1.74070521e-07  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  3.09266560e-02  6.55190333e-02\n",
      "  4.60976130e-01  5.47060360e-05 -5.50895966e-04  1.52079500e+00\n",
      "  2.51751157e-01 -1.00275787e-01  3.62349990e-01 -9.43884645e-09\n",
      "  5.09961939e-07  1.31324481e+00  1.48040654e-01 -9.08197396e-02\n",
      "  3.62349999e-01 -1.05652147e-09  4.42736774e-10  1.42848714e+00] 24\n",
      "[-1.17248556e-01 -1.28272585e-01  5.12741862e-01  3.10731889e+00\n",
      " -1.85664785e-01  1.76982287e+00  5.09000314e-04 -1.01757866e+00\n",
      "  1.13878444e+00  2.08430720e+00 -2.61433466e+00 -9.40951023e-01\n",
      "  1.89633141e+00  6.88164972e-01 -1.00000000e+00] 15\n",
      "[-0.11860806 -0.12492129  0.50744675  3.10408137 -0.18094547  1.768872\n",
      " -1.        ]\n",
      "episode_0554270.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553788.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  8.80261594e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45232275e-01 -7.17804092e-02\n",
      "  4.59990010e-01 -8.31658449e-10  5.61843643e-10  1.83724642e+00\n",
      "  2.29556414e-01 -6.99267861e-02  4.59460621e-01 -5.11815240e-04\n",
      " -8.93892805e-03  1.66619458e+00  2.54335101e-02 -1.03039058e-01\n",
      "  4.59990010e-01  2.67407692e-10 -1.14005069e-11  1.46114331e+00] 24\n",
      "[ 0.22801303 -0.07365322  0.48633378  3.06681959 -0.08095128  1.56865489\n",
      "  0.07869242 -0.41225032  1.14827376  1.54886274 -1.59714232 -1.18688554\n",
      "  1.70497488  0.39691568  1.        ] 15\n",
      "[ 0.22728739 -0.07381162  0.48819906  3.07276591 -0.08131132  1.56255887\n",
      "  1.        ]\n",
      "episode_0553788.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554372.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.45766040e-07  1.38695132e-19  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.73141373e-02 -1.01615046e-01\n",
      "  4.59989698e-01 -3.58219562e-06 -5.26043456e-07  1.68543418e+00\n",
      "  2.51749366e-01 -1.00274664e-01  3.62347614e-01 -1.14450192e-04\n",
      "  3.98262624e-05  1.31325801e+00  1.48040646e-01 -9.08197108e-02\n",
      "  3.62349994e-01 -4.56517396e-07  3.52312746e-07  1.42848713e+00] 24\n",
      "[-0.01607584 -0.11789566  0.55801615 -3.05823034 -0.10145032  1.54650932\n",
      "  0.0799993  -0.87370546  1.02637595  1.9733566  -2.22880787 -0.81441316\n",
      "  1.71501899  0.6773697   1.        ] 15\n",
      "[-0.02423535 -0.1166467   0.56375285 -3.05398493 -0.10715438  1.53633932\n",
      "  1.        ]\n",
      "episode_0554372.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554872.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12362890e-01  1.25297007e-19  1.27500360e-17\n",
      "  0.00000000e+00  0.00000000e+00  3.74363939e-02 -1.01201038e-01\n",
      "  4.59990009e-01  7.90978522e-08 -9.62478237e-09  1.68554221e+00\n",
      "  2.51711622e-01 -3.06551975e-01  3.62349996e-01  3.44752862e-08\n",
      " -1.68015031e-07  1.31415031e+00  3.28551412e-02  8.10153758e-02\n",
      "  4.60987877e-01  2.85450356e-04 -9.21466659e-07  1.79928488e+00] 24\n",
      "[ 0.02826759 -0.1124622   0.51732432  3.12384021 -0.12154538  1.64003289\n",
      "  0.07999709 -0.82829593  1.0845426   1.86095179 -2.23167451 -1.01224383\n",
      "  1.78054728  0.59780361  1.        ] 15\n",
      "[ 0.03150059 -0.1102625   0.51147844  3.11277001 -0.11551186  1.6318359\n",
      "  1.        ]\n",
      "episode_0554872.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554686.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  8.90120938e-13  1.25297007e-19 -7.50711294e-05\n",
      "  0.00000000e+00  0.00000000e+00  3.74223222e-02 -1.01544055e-01\n",
      "  4.59990010e-01 -6.41939284e-11 -2.28189496e-11  1.68543845e+00\n",
      "  2.51752534e-01 -1.00275374e-01  3.62349999e-01  2.20421582e-12\n",
      " -1.13570785e-13  1.31319892e+00  1.48040739e-01 -9.08196359e-02\n",
      "  3.62349999e-01 -3.62367036e-13 -6.13968120e-14  1.42848667e+00] 24\n",
      "[-0.076192   -0.12458291  0.55907117 -3.09873245 -0.11337866  1.58304754\n",
      "  0.08       -0.91145786  1.11373222  2.08707684 -2.38424444 -0.8539701\n",
      "  1.70050465  0.78770865  1.        ] 15\n",
      "[-0.05986348 -0.12959051  0.55845528 -3.10987888 -0.10485562  1.56127561\n",
      "  1.        ]\n",
      "episode_0554686.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553672.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  3.37692837e-17\n",
      "  0.00000000e+00  0.00000000e+00 -2.45232431e-01 -7.17802330e-02\n",
      "  4.59989824e-01 -5.22816867e-06  1.05598010e-05  1.83724642e+00\n",
      " -4.66661138e-03  1.04639498e-01  4.60893164e-01  3.91666350e-04\n",
      "  9.14663130e-03  2.08578911e+00  2.54335102e-02 -1.03039058e-01\n",
      "  4.59990009e-01  6.52644245e-09 -4.57188803e-09  1.46114331e+00] 24\n",
      "[ 0.25551249 -0.0419159   0.50201992  3.01817517 -0.0070809   1.42881145\n",
      "  0.07999723 -0.18277116  1.04953939  1.38825003 -1.35110808 -1.13817057\n",
      "  1.66095146  0.4714424   1.        ] 15\n",
      "[ 0.26034693 -0.03868264  0.49859332  3.0225656  -0.00533832  1.43128394\n",
      "  1.        ]\n",
      "episode_0553672.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555065.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  3.65446597e-17\n",
      "  0.00000000e+00  0.00000000e+00  9.04227511e-02 -8.73436150e-02\n",
      "  4.59990009e-01 -1.62994707e-11 -1.94468647e-08 -2.92824313e+00\n",
      "  2.04498878e-01 -6.05533356e-02  4.59990010e-01  0.00000000e+00\n",
      " -1.57079633e+00  3.74551411e+00  3.28663200e-02  8.09877767e-02\n",
      "  4.60987877e-01  2.85451492e-04 -9.12689296e-07  1.80011000e+00] 24\n",
      "[ 0.30471141 -0.05556247  0.49898198  2.99466836 -0.0418271   1.48356935\n",
      "  0.00516469 -0.16276672  1.12487853  1.39699458 -1.22574773 -1.20796666\n",
      "  1.67407645  0.33328964 -1.        ] 15\n",
      "[ 0.30414408 -0.04967872  0.49550948  3.0022646  -0.03841031  1.48857557\n",
      " -1.        ]\n",
      "episode_0555065.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553964.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16620662e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45233585e-01 -7.17785389e-02\n",
      "  4.59989727e-01 -2.49210561e-05 -1.39442905e-05  1.83719706e+00\n",
      "  2.29582950e-01 -6.97410322e-02  4.59988820e-01 -1.17276958e-05\n",
      "  7.69458829e-05  1.66625221e+00  1.48267301e-01 -2.99616567e-01\n",
      "  3.62348683e-01  1.61576296e-05  2.90953829e-06  1.43074993e+00] 24\n",
      "[ 0.14959542 -0.30337589  0.47300242  3.04939151 -0.04823184  1.42501066\n",
      "  0.07999992 -1.22926229  1.0508521   1.76844511 -2.26538169 -1.11682296\n",
      "  1.83856156  0.41685034  1.        ] 15\n",
      "[ 0.15126216 -0.3016442   0.48322115  3.05226131 -0.05807005  1.42613736\n",
      "  1.        ]\n",
      "episode_0553964.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554238.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  5.10235239e-08  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  3.09257947e-02  6.55022314e-02\n",
      "  4.60976287e-01  5.47053651e-05 -5.45084780e-04  1.52078565e+00\n",
      "  2.51764170e-01 -1.00283416e-01  3.62340442e-01  7.22210824e-04\n",
      " -2.19493671e-04  1.31326053e+00  1.48040726e-01 -9.08196248e-02\n",
      "  3.62349929e-01  3.73111227e-06 -2.43230060e-08  1.42848717e+00] 24\n",
      "[ 0.11140535 -0.24385697  0.46973277  3.03844464 -0.20430012  1.4460037\n",
      "  0.07998729 -1.19816158  1.24738673  1.80318693 -2.38158636 -1.23605591\n",
      "  1.87276367  0.56555021  1.        ] 15\n",
      "[ 0.1077007  -0.25066371  0.47766395  3.04848814 -0.2037208   1.44751352\n",
      "  1.        ]\n",
      "episode_0554238.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553828.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  8.80022471e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45232405e-01 -7.17802190e-02\n",
      "  4.59989905e-01  2.30874346e-06  2.25418706e-06  1.83723449e+00\n",
      "  2.29551344e-01 -6.97477157e-02  4.59989973e-01 -2.76280327e-06\n",
      " -8.63848581e-07  1.66629730e+00  2.54334886e-02 -1.03039128e-01\n",
      "  4.59989954e-01  3.57880801e-06 -3.19773033e-07  1.46113868e+00] 24\n",
      "[ 0.1727935  -0.23925828  0.45327666  3.0166993  -0.09789769  1.48439382\n",
      "  0.07999961 -1.01797214  1.17272167  1.68692906 -2.17458184 -1.26791933\n",
      "  1.83547382  0.47831437  1.        ] 15\n",
      "[ 0.17162107 -0.2370722   0.44581028  3.01402099 -0.0962347   1.48522476\n",
      "  1.        ]\n",
      "episode_0553828.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553640.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  2.98372438e-17\n",
      "  0.00000000e+00  0.00000000e+00 -2.45232280e-01 -7.17804595e-02\n",
      "  4.59989989e-01 -1.68887118e-06 -1.17783371e-06  1.83724807e+00\n",
      " -4.57917475e-03  1.04477298e-01  4.60990053e-01 -1.24615618e-06\n",
      " -3.19381233e-06  2.08586747e+00  2.54283604e-02 -1.03041056e-01\n",
      "  4.59985536e-01 -2.65470837e-04 -1.84882909e-04  1.46114631e+00] 24\n",
      "[ 0.02484383 -0.12547702  0.51671194  3.05085931 -0.03657934  1.46172647\n",
      "  0.07995344 -0.86024212  0.97167794  1.88915884 -2.26474058 -1.01105159\n",
      "  1.77072286  0.79081861  1.        ] 15\n",
      "[ 0.02511413 -0.1248971   0.52349223  3.04893085 -0.0416713   1.45373012\n",
      "  1.        ]\n",
      "episode_0553640.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554693.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  9.11921372e-13  1.25297007e-19 -1.00758764e-05\n",
      "  0.00000000e+00  0.00000000e+00  3.74223222e-02 -1.01544055e-01\n",
      "  4.59990010e-01 -6.10202903e-11 -2.44732820e-11  1.68543845e+00\n",
      "  2.51752534e-01 -1.00275374e-01  3.62349999e-01  4.73003458e-12\n",
      "  1.82037839e-12  1.31319892e+00  1.48040739e-01 -9.08196359e-02\n",
      "  3.62349999e-01 -6.73492938e-13  8.99723765e-14  1.42848667e+00] 24\n",
      "[ 0.02348875 -0.15788579  0.5600237  -3.12689169 -0.11077536  1.48070287\n",
      "  0.08000061 -0.97120923  1.09714666  1.99653276 -2.24844493 -0.92049227\n",
      "  1.68046968  0.68207901  1.        ] 15\n",
      "[ 0.03842394 -0.16451065  0.56075676 -3.12280395 -0.11803216  1.47279032\n",
      "  1.        ]\n",
      "episode_0554693.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553993.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16621725e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45234841e-01 -7.17781990e-02\n",
      "  4.59990007e-01 -1.09105699e-07  6.24127793e-09  1.83730185e+00\n",
      "  2.29588875e-01 -6.96214144e-02  4.59913533e-01  5.41330206e-04\n",
      "  6.01738037e-03  1.66625887e+00  1.48267739e-01 -2.99618302e-01\n",
      "  3.62349997e-01  5.61722039e-08 -3.02205047e-08  1.43075329e+00] 24\n",
      "[ 0.22482103 -0.08079478  0.48151865  3.05236714 -0.00444049  1.61638649\n",
      "  0.07999883 -0.38589239  1.04207696  1.46096912 -1.60249116 -1.12171706\n",
      "  1.72397622  0.33610563  1.        ] 15\n",
      "[ 0.22304804 -0.07877757  0.47623319  3.05337352  0.00589492  1.62323156\n",
      "  1.        ]\n",
      "episode_0553993.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555058.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  3.56772979e-17\n",
      "  0.00000000e+00  0.00000000e+00  9.04228074e-02 -8.73436029e-02\n",
      "  4.59989931e-01 -1.32437489e-09 -2.89632665e-06 -2.92824313e+00\n",
      "  2.04498878e-01 -6.05533356e-02  4.59990010e-01  0.00000000e+00\n",
      " -1.57079633e+00  3.74551411e+00  3.28659097e-02  8.09887816e-02\n",
      "  4.60987877e-01  2.85451458e-04 -9.13010590e-07  1.80007988e+00] 24\n",
      "[ 0.29301243 -0.11433933  0.52781118  2.96491226 -0.06162407  1.42474975\n",
      "  0.07999826 -0.39991496  1.03760944  1.47711508 -1.46349732 -1.17243535\n",
      "  1.71988168  0.4088567   1.        ] 15\n",
      "[ 0.29738545 -0.10751152  0.52489576  2.96408478 -0.05739919  1.4275298\n",
      "  1.        ]\n",
      "episode_0555058.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555073.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  2.51538917e-03\n",
      "  0.00000000e+00  0.00000000e+00  9.04227507e-02 -8.73436151e-02\n",
      "  4.59990010e-01 -7.80186887e-12 -5.07497487e-11 -2.92824313e+00\n",
      "  2.04498878e-01 -6.05533356e-02  4.59990010e-01  0.00000000e+00\n",
      " -1.57079633e+00  3.74551411e+00  3.28667921e-02  8.09866213e-02\n",
      "  4.60987877e-01  2.85451530e-04 -9.12319713e-07  1.80014464e+00] 24\n",
      "[ 2.97620478e-01 -5.95608805e-03  4.95772492e-01  3.05139385e+00\n",
      " -6.98451197e-02  1.50597211e+00 -5.02793083e-05  1.07759414e-02\n",
      "  1.18895349e+00  1.39120220e+00 -1.01250405e+00 -1.19865844e+00\n",
      "  1.61909476e+00  2.83023534e-01 -1.00000000e+00] 15\n",
      "[ 2.97424948e-01 -4.80230041e-04  5.00716573e-01  3.05630663e+00\n",
      " -8.27859273e-02  1.50290423e+00 -1.00000000e+00]\n",
      "episode_0555073.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554528.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.48543264e-02  2.76914747e-13  1.38695132e-19  3.54567830e-02\n",
      "  0.00000000e+00  1.00000000e+00  3.74223222e-02 -1.01544055e-01\n",
      "  4.59990010e-01 -6.41945045e-11 -2.28192294e-11  1.68543845e+00\n",
      "  2.51752534e-01 -1.00275374e-01  3.62349999e-01  2.90166719e-12\n",
      " -1.28482684e-13  1.31319892e+00  1.48040739e-01 -9.08196359e-02\n",
      "  3.62349999e-01 -3.35988995e-13  9.15572948e-15  1.42848667e+00] 24\n",
      "[ 2.72236162e-01  5.40441501e-02  5.87702034e-01  3.11104365e+00\n",
      " -2.10152596e-01  1.52185961e+00 -1.05096742e-06  2.71335640e-01\n",
      "  1.14125218e+00  1.37350439e+00 -6.19445691e-01 -1.06456393e+00\n",
      "  1.52140224e+00  1.77868602e-01 -1.00000000e+00] 15\n",
      "[ 0.27372887  0.05047782  0.58212512  3.11191778 -0.19614252  1.52030321\n",
      " -1.        ]\n",
      "episode_0554528.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553970.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16620940e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45235709e-01 -7.17800101e-02\n",
      "  4.59989531e-01 -1.01174912e-04 -4.22774273e-05  1.83719369e+00\n",
      "  2.29585043e-01 -6.97408351e-02  4.59988820e-01 -1.17276969e-05\n",
      "  7.69459628e-05  1.66624882e+00  1.48267719e-01 -2.99617040e-01\n",
      "  3.62349587e-01  2.92323764e-05 -3.06033788e-07  1.43074968e+00] 24\n",
      "[ 0.16989918 -0.26701091  0.53462315  3.05748543 -0.11909107  1.45421138\n",
      "  0.07999988 -1.13060682  1.04480729  1.82735091 -2.11335491 -1.02292507\n",
      "  1.7858326   0.37060468  1.        ] 15\n",
      "[ 0.17491279 -0.25524471  0.54392753  3.05204937 -0.13347981  1.46783989\n",
      "  1.        ]\n",
      "episode_0553970.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555209.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12189755e-01  1.25297007e-19  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04261007e-02 -8.73480513e-02\n",
      "  4.59990009e-01 -3.32373380e-08  1.77643142e-08 -2.92827924e+00\n",
      "  2.01103972e-01 -2.94364933e-01  3.62349998e-01  0.00000000e+00\n",
      " -1.57079633e+00  3.47305215e+00  3.28593442e-02  8.09673170e-02\n",
      "  4.60988554e-01  9.39717420e-05 -3.57795071e-06  1.80022870e+00] 24\n",
      "[ 0.19154583 -0.28141902  0.46391622  3.08896825 -0.03074332  1.44410019\n",
      "  0.07999824 -1.02446989  1.1557517   1.6926842  -2.07095777 -1.18625478\n",
      "  1.71535112  0.3985737   1.        ] 15\n",
      "[ 0.19275314 -0.27961334  0.46661887  3.1007155  -0.03513067  1.4398497\n",
      "  1.        ]\n",
      "episode_0555209.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554503.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.48543264e-02  1.80294364e-13  1.38695132e-19  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.74223222e-02 -1.01544055e-01\n",
      "  4.59990010e-01 -6.41564220e-11 -2.28424730e-11  1.68543845e+00\n",
      "  2.51752534e-01 -1.00275374e-01  3.62349999e-01  3.60550340e-12\n",
      "  4.76925258e-13  1.31319892e+00  1.48040739e-01 -9.08196359e-02\n",
      "  3.62349999e-01 -5.62368795e-13  6.23290267e-14  1.42848667e+00] 24\n",
      "[ 0.27431152 -0.01236975  0.62800693  3.12041732 -0.23361015  1.53758061\n",
      "  0.0799805  -0.03321941  1.01859741  1.42764835 -0.94024501 -0.92279499\n",
      "  1.56315064  0.18677647  1.        ] 15\n",
      "[ 0.27232137 -0.00393349  0.63305797  3.11596533 -0.24208254  1.54950313\n",
      "  1.        ]\n",
      "episode_0554503.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554271.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  1.74063632e-07  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  3.09245553e-02  6.55197787e-02\n",
      "  4.60976071e-01 -5.41406698e-05 -5.49239081e-04  1.52079907e+00\n",
      "  2.51751156e-01 -1.00275792e-01  3.62349995e-01 -9.08653237e-09\n",
      "  2.39119157e-07  1.31324481e+00  1.48040654e-01 -9.08197396e-02\n",
      "  3.62349999e-01 -1.09653177e-09  4.26897250e-10  1.42848714e+00] 24\n",
      "[-1.18608064e-01 -1.24921290e-01  5.07446751e-01  3.10408137e+00\n",
      " -1.80945467e-01  1.76887200e+00  1.97193249e-04 -1.00617886e+00\n",
      "  1.12501297e+00  2.07147875e+00 -2.61661242e+00 -9.51402843e-01\n",
      "  1.91070413e+00  6.99520932e-01 -1.00000000e+00] 15\n",
      "[-0.11977767 -0.12264768  0.50277937  3.09750529 -0.17717563  1.77186895\n",
      " -1.        ]\n",
      "episode_0554271.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553815.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  8.80035111e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45238234e-01 -7.17852381e-02\n",
      "  4.59984462e-01 -3.52429057e-04 -1.61517509e-04  1.83724051e+00\n",
      "  2.29549791e-01 -6.97475702e-02  4.59989694e-01 -3.35162369e-05\n",
      " -1.08367177e-05  1.66624420e+00  2.54335574e-02 -1.03039071e-01\n",
      "  4.59989794e-01  5.96399639e-06 -3.04086448e-07  1.46114197e+00] 24\n",
      "[ 0.19760455 -0.20319266  0.52960955  3.0773617  -0.1609466   1.41685285\n",
      "  0.07999995 -0.89121898  1.14735741  1.76485385 -1.95516528 -1.12051282\n",
      "  1.73448336  0.48287044  1.        ] 15\n",
      "[ 0.19729823 -0.20884775  0.5282627   3.06550651 -0.16828351  1.4170726\n",
      "  1.        ]\n",
      "episode_0553815.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554699.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.26015761e-07  1.25297007e-19 -1.24733309e-08\n",
      "  0.00000000e+00  0.00000000e+00  3.74198681e-02 -1.01545147e-01\n",
      "  4.59988898e-01 -1.28602692e-04 -4.10834482e-05  1.68543831e+00\n",
      "  2.51751390e-01 -1.00274640e-01  3.62349203e-01 -6.95866354e-05\n",
      "  1.17930740e-05  1.31318776e+00  1.48067695e-01 -9.08205745e-02\n",
      "  3.62322313e-01  1.60271015e-03  8.10806777e-05  1.42855190e+00] 24\n",
      "[ 0.09252351 -0.19077227  0.55897294 -3.12721018 -0.13999578  1.47875511\n",
      "  0.08000083 -0.99501349  1.12342758  1.92722113 -2.14056845 -0.95991324\n",
      "  1.67180626  0.5404673   1.        ] 15\n",
      "[ 0.1052492  -0.19687164  0.55583238 -3.12958512 -0.13517895  1.4718276\n",
      "  1.        ]\n",
      "episode_0554699.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553804.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  8.80043888e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45244248e-01 -7.17837601e-02\n",
      "  4.59978264e-01 -6.22433933e-04 -7.76577349e-06  1.83724306e+00\n",
      "  2.29548761e-01 -6.97470889e-02  4.59989734e-01 -3.04275274e-05\n",
      " -9.91590047e-06  1.66618391e+00  2.54327382e-02 -1.03039562e-01\n",
      "  4.59988833e-01 -3.29878822e-05 -3.01111750e-05  1.46114496e+00] 24\n",
      "[ 0.19507123 -0.12666493  0.54541791  3.05590645 -0.1686097   1.5325896\n",
      "  0.07999976 -0.68739835  1.12653422  1.73563851 -1.82659052 -1.12440381\n",
      "  1.72382178  0.44668446  1.        ] 15\n",
      "[ 0.19356261 -0.13449754  0.54650961  3.05668058 -0.16654302  1.51778835\n",
      "  1.        ]\n",
      "episode_0553804.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553744.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000404e-01  0.00000000e+00  0.00000000e+00  8.80261594e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45232275e-01 -7.17804092e-02\n",
      "  4.59990010e-01 -8.31814642e-10  5.61954031e-10  1.83724642e+00\n",
      " -2.94001806e-04  1.06566502e-01  4.60788523e-01 -5.56475432e-03\n",
      " -2.24354057e-03  2.10751244e+00  2.54335101e-02 -1.03039058e-01\n",
      "  4.59990010e-01  2.75287049e-10 -2.14109952e-11  1.46114331e+00] 24\n",
      "[ 2.43721886e-03  9.87928672e-02  4.71427427e-01  3.10458425e+00\n",
      " -1.60060993e-01  1.89642710e+00  3.88028165e-02 -1.34945431e-01\n",
      "  1.16932475e+00  1.57939221e+00 -1.77970926e+00 -1.16955260e+00\n",
      "  1.80863555e+00  5.22344886e-01 -1.00000000e+00] 15\n",
      "[ 2.23031871e-03  9.91563150e-02  4.70812543e-01  3.10261789e+00\n",
      " -1.63134678e-01  1.89737847e+00 -1.00000000e+00]\n",
      "episode_0553744.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554740.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  6.10392649e-02  1.25297007e-19 -7.08925476e-17\n",
      "  0.00000000e+00  0.00000000e+00  3.74363752e-02 -1.01201075e-01\n",
      "  4.59990009e-01 -1.92557898e-08 -2.91480647e-08  1.68554302e+00\n",
      "  2.51559438e-01 -1.58610434e-01  3.62265290e-01 -4.85524691e-03\n",
      "  2.70968677e-03  1.31346267e+00  1.48133104e-01 -1.49289752e-01\n",
      "  3.62339933e-01 -3.41321019e-08  2.58091953e-04  1.42832690e+00] 24\n",
      "[ 1.80797112e-01 -2.82325431e-01  3.34256634e-01  3.02747902e+00\n",
      " -5.93204490e-02  1.51650613e+00  4.38185541e-07 -1.03300067e+00\n",
      "  1.21436426e+00  1.43658580e+00 -2.21593314e+00 -1.44767311e+00\n",
      "  1.98338877e+00  4.28687131e-01 -1.00000000e+00] 15\n",
      "[ 0.18069104 -0.29204278  0.33263172  3.0154387  -0.05125568  1.52120985\n",
      " -1.        ]\n",
      "episode_0554740.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554085.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16597960e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45236340e-01 -7.17779397e-02\n",
      "  4.59989957e-01 -3.80050020e-06 -1.15029269e-06  1.83742888e+00\n",
      "  2.51938882e-01 -3.07642116e-01  3.62349991e-01  1.57460584e-08\n",
      "  4.67148677e-07  1.31016368e+00  1.48268219e-01 -2.99575676e-01\n",
      "  3.62341367e-01 -4.92841911e-04 -1.13834536e-05  1.43071898e+00] 24\n",
      "[-0.22320158 -0.10071456  0.51515072  3.12540695 -0.0942001   1.89639472\n",
      "  0.08000149 -0.86645749  0.96750924  2.208795   -2.63309664 -0.76739753\n",
      "  1.92417105  0.75276087  1.        ] 15\n",
      "[-0.22698304 -0.09735143  0.50704639  3.12132354 -0.08044493  1.89523989\n",
      "  1.        ]\n",
      "episode_0554085.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554540.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.48543264e-02  3.26355674e-13  1.38695132e-19 -8.54350877e-05\n",
      "  0.00000000e+00  1.00000000e+00  3.74223222e-02 -1.01544055e-01\n",
      "  4.59990010e-01 -6.41944982e-11 -2.28191977e-11  1.68543845e+00\n",
      "  2.51752534e-01 -1.00275374e-01  3.62349999e-01  2.90414842e-12\n",
      " -1.27991086e-13  1.31319892e+00  1.48040739e-01 -9.08196359e-02\n",
      "  3.62349999e-01 -3.36016050e-13  9.31772823e-15  1.42848667e+00] 24\n",
      "[ 0.27344195  0.02165961  0.56296835  3.11540322 -0.10640798  1.54912537\n",
      "  0.02749704  0.17921089  1.13573119  1.38281431 -0.75301091 -1.0977343\n",
      "  1.47940413  0.17633976  1.        ] 15\n",
      "[ 0.27229228  0.01911846  0.56931949  3.11906161 -0.11358376  1.556575\n",
      "  1.        ]\n",
      "episode_0554540.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554591.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.48543264e-02  5.18658414e-13  1.38695132e-19 -7.50711294e-05\n",
      "  0.00000000e+00  1.00000000e+00  3.74223222e-02 -1.01544055e-01\n",
      "  4.59990010e-01 -6.41935749e-11 -2.28188357e-11  1.68543845e+00\n",
      "  2.51752534e-01 -1.00275374e-01  3.62349999e-01  2.20339009e-12\n",
      " -1.13726619e-13  1.31319892e+00  1.48040739e-01 -9.08196359e-02\n",
      "  3.62349999e-01 -3.61790198e-13 -6.14918388e-14  1.42848667e+00] 24\n",
      "[-1.00594617e-01 -1.31973277e-01  5.16414541e-01  3.07021020e+00\n",
      " -9.98578003e-02  1.89229467e+00  3.99835812e-06 -9.26150844e-01\n",
      "  1.18721998e+00  2.06841328e+00 -2.54808597e+00 -1.00845413e+00\n",
      "  1.74376445e+00  6.04365196e-01 -1.00000000e+00] 15\n",
      "[-0.10256737 -0.13156481  0.51025104  3.06505281 -0.08819109  1.88329038\n",
      " -1.        ]\n",
      "episode_0554591.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554573.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.48543264e-02  4.51230708e-13  1.38695132e-19 -7.50711294e-05\n",
      "  0.00000000e+00  1.00000000e+00  3.74223222e-02 -1.01544055e-01\n",
      "  4.59990010e-01 -6.41932202e-11 -2.28187898e-11  1.68543845e+00\n",
      "  2.51752534e-01 -1.00275374e-01  3.62349999e-01  2.20476524e-12\n",
      " -1.13748886e-13  1.31319892e+00  1.48040739e-01 -9.08196359e-02\n",
      "  3.62349999e-01 -3.62333755e-13 -6.13635404e-14  1.42848667e+00] 24\n",
      "[ 0.01675456 -0.12899684  0.54820841 -3.12544266 -0.04881424  1.94029467\n",
      "  0.07999994 -0.78132162  1.14767084  1.94445769 -2.16324187 -0.97947226\n",
      "  1.56017911  0.32123407  1.        ] 15\n",
      "[ 0.0064514  -0.13045198  0.54728551 -3.11958442 -0.04402242  1.94618056\n",
      "  1.        ]\n",
      "episode_0554573.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554977.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  2.57026380e-17\n",
      "  0.00000000e+00  0.00000000e+00  8.53793830e-02 -8.47554202e-02\n",
      "  4.59988810e-01  1.14091565e-04  4.80936872e-06 -3.04750950e+00\n",
      "  1.99940523e-01 -2.32360909e-01  5.20774890e-01  2.18677167e-02\n",
      " -2.06249115e-01  1.50584419e+00  3.28612053e-02  8.10003475e-02\n",
      "  4.60987877e-01  2.85451076e-04 -9.16700074e-07  1.79973363e+00] 24\n",
      "[ 0.19999039 -0.24077868  0.51961711  3.08247853 -0.05634997  1.4938307\n",
      "  0.04092794 -0.93309624  1.05597366  1.72823189 -1.95331353 -1.06557347\n",
      "  1.70512024  0.34046782 -1.        ] 15\n",
      "[ 0.19043485 -0.22822677  0.52874238  3.09324332 -0.06863563  1.51304906\n",
      " -1.        ]\n",
      "episode_0554977.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553752.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000014e-01  0.00000000e+00  0.00000000e+00  8.80261594e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45232275e-01 -7.17804092e-02\n",
      "  4.59990010e-01 -8.31785441e-10  5.61935178e-10  1.83724642e+00\n",
      "  9.88986602e-03  7.92371140e-02  4.86107157e-01  1.71902645e-02\n",
      " -2.61481636e-02  2.07130313e+00  2.54335101e-02 -1.03039058e-01\n",
      "  4.59990010e-01  2.75281300e-10 -2.14116576e-11  1.46114331e+00] 24\n",
      "[ 0.01350733  0.0725102   0.49600582  3.13304306 -0.18254548  1.87086087\n",
      "  0.04201513 -0.22634724  1.16640279  1.64148392 -1.81185231 -1.11915323\n",
      "  1.7796257   0.5043046  -1.        ] 15\n",
      "[ 0.01806239  0.06472909  0.50059167  3.13688514 -0.18340719  1.86395858\n",
      " -1.        ]\n",
      "episode_0553752.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555069.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  3.70361647e-17\n",
      "  0.00000000e+00  0.00000000e+00  9.04227508e-02 -8.73436151e-02\n",
      "  4.59990010e-01 -8.23594040e-12 -1.04018558e-09 -2.92824313e+00\n",
      "  2.04498878e-01 -6.05533356e-02  4.59990010e-01  0.00000000e+00\n",
      " -1.57079633e+00  3.74551411e+00  3.28665594e-02  8.09871906e-02\n",
      "  4.60987877e-01  2.85451511e-04 -9.12501839e-07  1.80012757e+00] 24\n",
      "[ 3.00396233e-01 -2.83255486e-02  4.88625944e-01  3.02298897e+00\n",
      " -3.91350917e-02  1.50725712e+00  1.23570874e-04 -6.40243252e-02\n",
      "  1.16445245e+00  1.38146797e+00 -1.11872965e+00 -1.21099836e+00\n",
      "  1.64355885e+00  3.01807281e-01 -1.00000000e+00] 15\n",
      "[ 0.2989442  -0.02199517  0.48881133  3.03225741 -0.04354228  1.50708455\n",
      " -1.        ]\n",
      "episode_0555069.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554918.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12366778e-01  1.25297007e-19  1.84457114e-17\n",
      "  0.00000000e+00  0.00000000e+00  8.50544872e-02 -8.54023508e-02\n",
      "  4.61561394e-01 -5.12900554e-02  2.29672150e-02 -3.09391083e+00\n",
      "  2.51710187e-01 -3.06551713e-01  3.62349703e-01  1.57121425e-05\n",
      " -4.13925002e-07  1.31424140e+00  3.28577987e-02  8.10087732e-02\n",
      "  4.60987877e-01  2.85450801e-04 -9.19378048e-07  1.79948188e+00] 24\n",
      "[ 0.07746647 -0.08801125  0.48115001  3.0245916   0.05900836 -3.13466459\n",
      "  0.05618986 -0.66370693  1.25966765  1.76743561 -2.10973744 -1.25206743\n",
      "  1.68853814 -0.88542413  1.        ] 15\n",
      "[ 0.0775679  -0.08836843  0.48309031  3.0310587   0.05722789  3.13592313\n",
      "  1.        ]\n",
      "episode_0554918.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554733.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  1.21958914e-02  1.25297007e-19 -7.08925476e-17\n",
      "  0.00000000e+00  0.00000000e+00  3.74363819e-02 -1.01201074e-01\n",
      "  4.59990003e-01  3.19154035e-07 -2.93333305e-08  1.68554301e+00\n",
      "  2.51727302e-01 -1.11461440e-01  3.62333996e-01 -2.29283374e-04\n",
      " -1.10575059e-03  1.31319357e+00  1.48049947e-01 -1.02060182e-01\n",
      "  3.62346531e-01  2.01468551e-04  1.41432621e-05  1.42875537e+00] 24\n",
      "[ 1.75730714e-01 -2.33954931e-01  3.45871290e-01  3.07883601e+00\n",
      " -9.71389394e-02  1.48778194e+00  9.35531834e-06 -9.26820967e-01\n",
      "  1.23310086e+00  1.45345517e+00 -2.15200076e+00 -1.37691735e+00\n",
      "  1.95942824e+00  4.84754765e-01 -1.00000000e+00] 15\n",
      "[ 0.17669929 -0.23916489  0.3426505   3.07316831 -0.09085192  1.4930378\n",
      " -1.        ]\n",
      "episode_0554733.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553729.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  8.80261594e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45232275e-01 -7.17804092e-02\n",
      "  4.59990010e-01 -8.31864329e-10  5.61996527e-10  1.83724642e+00\n",
      " -4.71650694e-03  1.04631395e-01  4.60888096e-01 -1.75275730e-03\n",
      "  9.88591426e-03  2.08532333e+00  2.54335101e-02 -1.03039058e-01\n",
      "  4.59990010e-01  3.39234599e-10 -1.88141916e-11  1.46114331e+00] 24\n",
      "[ 0.01940765  0.02926318  0.50248569  3.12577235 -0.08141828  1.88451011\n",
      "  0.07999978 -0.29944549  1.11530321  1.67280592 -1.86483362 -1.09714428\n",
      "  1.69405591  0.47992889  1.        ] 15\n",
      "[ 0.01655995  0.0349249   0.50075382  3.11878737 -0.09101008  1.88886431\n",
      "  1.        ]\n",
      "episode_0553729.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554691.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  9.09639474e-13  1.25297007e-19 -7.50711294e-05\n",
      "  0.00000000e+00  0.00000000e+00  3.74223222e-02 -1.01544055e-01\n",
      "  4.59990010e-01 -6.41938081e-11 -2.28189526e-11  1.68543845e+00\n",
      "  2.51752534e-01 -1.00275374e-01  3.62349999e-01  2.20506251e-12\n",
      " -1.13787869e-13  1.31319892e+00  1.48040739e-01 -9.08196359e-02\n",
      "  3.62349999e-01 -3.62751299e-13 -6.14352163e-14  1.42848667e+00] 24\n",
      "[-2.04408352e-03 -1.48163108e-01  5.58902431e-01 -3.12194197e+00\n",
      " -1.02912432e-01  1.49385996e+00  8.00000004e-02 -9.57415612e-01\n",
      "  1.09319002e+00  2.01910886e+00 -2.28446584e+00 -9.01925248e-01\n",
      "  1.68237865e+00  7.22780699e-01  1.00000000e+00] 15\n",
      "[ 0.01028473 -0.15278848  0.55946886 -3.12160669 -0.10620205  1.4850757\n",
      "  1.        ]\n",
      "episode_0554691.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555127.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04241024e-02 -8.73454035e-02\n",
      "  4.59990010e-01 -4.87174870e-10  2.39319036e-10 -2.92825767e+00\n",
      "  2.04496356e-01 -6.05550867e-02  4.59989807e-01  0.00000000e+00\n",
      " -1.57079633e+00  3.74552162e+00  3.28699389e-02  8.09789394e-02\n",
      "  4.60987877e-01  2.85451787e-04 -9.09858658e-07  1.80037513e+00] 24\n",
      "[ 0.21102734 -0.0715609   0.51050513  3.05435747 -0.0478638   1.69893869\n",
      "  0.07999837 -0.41562515  1.14099015  1.60861446 -1.6138057  -1.19677835\n",
      "  1.63774004  0.29977819  1.        ] 15\n",
      "[ 0.21173894 -0.06891753  0.50645156  3.04608817 -0.03993833  1.70218354\n",
      "  1.        ]\n",
      "episode_0555127.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555156.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04242399e-02 -8.73480228e-02\n",
      "  4.59989689e-01 -9.70913273e-05  3.59800457e-05 -2.92826231e+00\n",
      "  2.15102449e-01 -1.97172217e-01  5.00203804e-01 -3.02003676e+00\n",
      " -1.49938221e+00  1.16097273e-01  3.28649418e-02  8.09745844e-02\n",
      "  4.60988554e-01  9.39719326e-05 -3.57762900e-06  1.80036659e+00] 24\n",
      "[ 0.21291835 -0.1872004   0.49930016  3.10001258  0.05305126  1.64746592\n",
      "  0.04221245 -0.67028465  1.11171949  1.65157887 -1.78034628 -1.16849644\n",
      "  1.56631079  0.26133571 -1.        ] 15\n",
      "[ 0.21120486 -0.195327    0.49523873  3.10394243  0.06386117  1.64599151\n",
      " -1.        ]\n",
      "episode_0555156.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554519.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.48543264e-02  2.40784843e-13  1.38695132e-19  7.90094241e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.74223222e-02 -1.01544055e-01\n",
      "  4.59990010e-01 -6.41940326e-11 -2.28191627e-11  1.68543845e+00\n",
      "  2.51752534e-01 -1.00275374e-01  3.62349999e-01  2.79994186e-12\n",
      " -1.30011953e-13  1.31319892e+00  1.48040739e-01 -9.08196359e-02\n",
      "  3.62349999e-01 -3.44268140e-13 -1.45299827e-15  1.42848667e+00] 24\n",
      "[ 2.62334875e-01  6.33375090e-02  6.32165465e-01  3.13274128e+00\n",
      " -3.05044625e-01  1.50087414e+00  5.84484607e-05  2.54036317e-01\n",
      "  1.10046794e+00  1.40596581e+00 -6.18427166e-01 -9.96219481e-01\n",
      "  1.53877898e+00  2.06132290e-01 -1.00000000e+00] 15\n",
      "[ 0.26164448  0.06332879  0.62645981  3.13421776 -0.29040816  1.50087842\n",
      " -1.        ]\n",
      "episode_0554519.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554078.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16597828e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45247100e-01 -7.17845091e-02\n",
      "  4.59983121e-01 -6.09789570e-04 -1.76918284e-04  1.83742951e+00\n",
      "  2.51938934e-01 -3.07641962e-01  3.62349815e-01 -1.50757151e-08\n",
      "  9.79060193e-06  1.31016358e+00  1.48265216e-01 -2.99576602e-01\n",
      "  3.62341816e-01 -4.69035400e-04 -1.13111463e-05  1.43071848e+00] 24\n",
      "[-0.1909608  -0.12468886  0.56462251  3.12917167 -0.18322653  1.89036791\n",
      "  0.08000058 -0.97964783  1.12935971  2.28805574 -2.61121092 -0.7415973\n",
      "  1.82086481  0.66432127  1.        ] 15\n",
      "[-0.19797349 -0.12065973  0.5576687   3.13362523 -0.16792842  1.8952809\n",
      "  1.        ]\n",
      "episode_0554078.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554665.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.73894801e-01  8.09061392e-13  1.25297007e-19 -7.50711294e-05\n",
      "  0.00000000e+00  0.00000000e+00  3.74223222e-02 -1.01544055e-01\n",
      "  4.59990010e-01 -6.41940136e-11 -2.28190724e-11  1.68543845e+00\n",
      "  2.51752534e-01 -1.00275374e-01  3.62349999e-01  2.90098139e-12\n",
      " -1.28397438e-13  1.31319892e+00  1.48040739e-01 -9.08196359e-02\n",
      "  3.62349999e-01 -3.36204372e-13  9.20517555e-15  1.42848667e+00] 24\n",
      "[-0.22884151 -0.01911184  0.52385194  3.09094913 -0.06643234  1.80441342\n",
      "  0.04525819 -0.49047726  0.88184272  2.01391382 -2.39087907 -0.86438814\n",
      "  1.86992205  0.9620246  -1.        ] 15\n",
      "[-0.23564828 -0.0209947   0.52644359  3.0938675  -0.07302212  1.81530157\n",
      " -1.        ]\n",
      "episode_0554665.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554867.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12362889e-01  1.25297007e-19  1.21428828e-17\n",
      "  0.00000000e+00  0.00000000e+00  3.74363926e-02 -1.01201040e-01\n",
      "  4.59990009e-01  7.39319120e-08 -9.45170380e-09  1.68554221e+00\n",
      "  2.51711622e-01 -3.06551973e-01  3.62349997e-01 -6.86275175e-09\n",
      " -1.55461947e-07  1.31415031e+00  3.28548576e-02  8.10160818e-02\n",
      "  4.60987877e-01  2.85442727e-04 -9.21562822e-07  1.79926383e+00] 24\n",
      "[ 0.00921307 -0.11800006  0.53278074 -3.10540241 -0.12421294  1.71269932\n",
      "  0.07999594 -0.83462028  1.11655079  1.90854085 -2.22638284 -0.94741585\n",
      "  1.71402435  0.52699905  1.        ] 15\n",
      "[ 0.01240385 -0.11797223  0.53100718 -3.12094759 -0.12633784  1.70009639\n",
      "  1.        ]\n",
      "episode_0554867.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555055.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  3.53014412e-17\n",
      "  0.00000000e+00  0.00000000e+00  9.04232456e-02 -8.73435079e-02\n",
      "  4.59989326e-01 -5.21787906e-10 -2.53187456e-05 -2.92824313e+00\n",
      "  2.04498878e-01 -6.05533355e-02  4.59990009e-01  0.00000000e+00\n",
      " -1.57079633e+00  3.74551412e+00  3.28657320e-02  8.09892171e-02\n",
      "  4.60987877e-01  2.85451444e-04 -9.13149795e-07  1.80006683e+00] 24\n",
      "[ 0.27309826 -0.13791638  0.53552717  2.98842241 -0.06675367  1.40666591\n",
      "  0.07999882 -0.51170585  1.01171316  1.53210449 -1.5720941  -1.13272061\n",
      "  1.72106317  0.43440676  1.        ] 15\n",
      "[ 0.27986944 -0.13169243  0.53443728  2.98240928 -0.06832915  1.40949096\n",
      "  1.        ]\n",
      "episode_0555055.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554742.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  7.79385323e-02  1.25297007e-19 -7.08925476e-17\n",
      "  0.00000000e+00  0.00000000e+00  3.74363756e-02 -1.01201075e-01\n",
      "  4.59990009e-01 -2.61702579e-09 -2.57723245e-08  1.68554302e+00\n",
      "  2.51625636e-01 -1.75577381e-01  3.62329545e-01 -7.97735181e-04\n",
      "  2.77958065e-04  1.31347363e+00  1.48132559e-01 -1.66192893e-01\n",
      "  3.62347560e-01  5.08994232e-07  6.23596728e-05  1.42832689e+00] 24\n",
      "[ 1.80804453e-01 -2.99787007e-01  3.31300757e-01  3.01272746e+00\n",
      " -4.25386659e-02  1.51890791e+00  1.00527729e-06 -1.06949120e+00\n",
      "  1.20468075e+00  1.43271549e+00 -2.23721190e+00 -1.46677649e+00\n",
      "  1.98680960e+00  4.16234706e-01 -1.00000000e+00] 15\n",
      "[ 0.1821105  -0.31266313  0.33048625  3.01848575 -0.03157664  1.50174279\n",
      " -1.        ]\n",
      "episode_0554742.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553728.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  8.80261594e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45232275e-01 -7.17804092e-02\n",
      "  4.59990010e-01 -8.31870881e-10  5.61996579e-10  1.83724642e+00\n",
      " -4.71640468e-03  1.04631392e-01  4.60888096e-01 -1.75275720e-03\n",
      "  9.88591427e-03  2.08533198e+00  2.54335101e-02 -1.03039058e-01\n",
      "  4.59990010e-01  2.41026977e-10 -1.31101510e-11  1.46114331e+00] 24\n",
      "[ 0.02363128  0.02206782  0.5046895   3.13046935 -0.07116636  1.87913281\n",
      "  0.07999976 -0.31231268  1.11175924  1.6784409  -1.86373976 -1.08986233\n",
      "  1.67854335  0.4737133   1.        ] 15\n",
      "[ 0.01940765  0.02926318  0.50248569  3.12577235 -0.08141828  1.88451011\n",
      "  1.        ]\n",
      "episode_0553728.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554300.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.56714707e-07  2.71638625e-09  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.09250908e-02  6.55324804e-02\n",
      "  4.60976070e-01 -5.41412616e-05 -5.49272102e-04  1.52080577e+00\n",
      "  2.51751247e-01 -1.00275883e-01  3.62349999e-01  4.11660372e-09\n",
      " -1.49675728e-08  1.31324857e+00  1.48040654e-01 -9.08197395e-02\n",
      "  3.62349999e-01 -5.87032771e-10  4.40577956e-10  1.42848714e+00] 24\n",
      "[-0.03699919 -0.12218786  0.55191419  3.11058502 -0.27384228  1.66089874\n",
      "  0.07999988 -1.02943599  1.13543763  2.04130547 -2.44440525 -0.93110745\n",
      "  1.90582577  0.62926821  1.        ] 15\n",
      "[-0.02614057 -0.11566018  0.55246212  3.10906363 -0.27686434  1.64671675\n",
      "  1.        ]\n",
      "episode_0554300.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553888.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16683424e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45250869e-01 -7.17846305e-02\n",
      "  4.59972334e-01 -9.85718804e-04 -3.83229452e-05  1.83721927e+00\n",
      "  2.29556357e-01 -6.97435365e-02  4.59988820e-01 -1.17276801e-05\n",
      "  7.69363207e-05  1.66629519e+00  2.54353966e-02 -1.03040326e-01\n",
      "  4.59988553e-01  1.17369444e-04 -4.47721996e-06  1.46115772e+00] 24\n",
      "[ 0.09825168 -0.2941183   0.53934487 -3.11442727 -0.20556243  1.44109269\n",
      "  0.07999716 -1.33802753  1.17512121  1.95477412 -2.30339925 -0.91919249\n",
      "  1.74996142  0.37496962  1.        ] 15\n",
      "[ 0.09215467 -0.28060498  0.54293145 -3.09961745 -0.21234858  1.44349811\n",
      "  1.        ]\n",
      "episode_0553888.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553880.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16683424e-01  0.00000000e+00  8.80000004e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45231792e-01 -7.17799940e-02\n",
      "  4.59988861e-01  1.26262620e-05 -4.38318709e-06  1.83723859e+00\n",
      "  2.29553571e-01 -6.97438485e-02  4.59988867e-01 -1.17272891e-05\n",
      "  7.44611545e-05  1.66629970e+00  2.54250129e-02 -1.03051670e-01\n",
      "  4.59973715e-01 -3.41759340e-04 -6.69211412e-04  1.46114821e+00] 24\n",
      "[ 0.1222521  -0.37447999  0.5107901   3.08947282 -0.16433107  1.43050329\n",
      "  0.07998985 -1.49985472  1.2173863   1.91698917 -2.35631153 -1.04500837\n",
      "  1.75837313  0.26873938  1.        ] 15\n",
      "[ 0.11922124 -0.36680583  0.51537722  3.09702486 -0.16439747  1.43266578\n",
      "  1.        ]\n",
      "episode_0553880.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554429.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 1.03586194e-01 -3.76673544e-10  1.38695132e-19  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.74224473e-02 -1.01545234e-01\n",
      "  4.59988401e-01 -4.38411634e-07 -5.91983457e-05  1.68543848e+00\n",
      "  2.51752533e-01 -1.00275388e-01  3.62349991e-01  7.51422349e-07\n",
      " -1.25693450e-07  1.31320181e+00  1.48040731e-01 -9.08196190e-02\n",
      "  3.62349999e-01 -1.23442509e-08  1.07381541e-08  1.42848681e+00] 24\n",
      "[-0.07475438 -0.00478553  0.51610862  3.03419006 -0.03241176  1.22197147\n",
      "  0.04819523 -0.61600068  0.39452565  1.79035032 -2.1816222  -0.56327076\n",
      "  2.05912708  1.02909923 -1.        ] 15\n",
      "[-0.06761761 -0.00305836  0.51605139  3.02922142 -0.03796901  1.21155184\n",
      " -1.        ]\n",
      "episode_0554429.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555097.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  8.80240516e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04227507e-02 -8.73436151e-02\n",
      "  4.59990010e-01 -8.96024406e-12  5.12426928e-12 -2.92824313e+00\n",
      "  2.04498433e-01 -6.05530290e-02  4.59989255e-01  0.00000000e+00\n",
      " -1.57079633e+00  3.74553200e+00  3.28681687e-02  8.09832564e-02\n",
      "  4.60987877e-01  2.85451643e-04 -9.11242538e-07  1.80024556e+00] 24\n",
      "[ 0.28225871  0.01184879  0.59544396  3.03506292 -0.18157835  1.59668368\n",
      "  0.07809916  0.01588944  1.1327254   1.53213311 -0.94565075 -1.17399878\n",
      "  1.55781255  0.19581034  1.        ] 15\n",
      "[ 0.28031004  0.00339118  0.59236528  3.04533512 -0.17164847  1.5952409\n",
      "  1.        ]\n",
      "episode_0555097.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555175.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04261003e-02 -8.73480512e-02\n",
      "  4.59990009e-01 -5.21373930e-08  2.49872470e-08 -2.92827924e+00\n",
      "  1.87728325e-01 -2.94218529e-01  4.41124593e-01  2.15460165e+00\n",
      " -1.43649500e+00  1.22338252e+00  3.28629282e-02  8.09719699e-02\n",
      "  4.60988554e-01  9.39722270e-05 -3.57774473e-06  1.80031699e+00] 24\n",
      "[ 0.18630351 -0.28498426  0.43893775  3.06820773  0.15599872  1.62558719\n",
      "  0.04267486 -0.9439846   1.10772566  1.63912056 -2.07733915 -1.27153518\n",
      "  1.63432631  0.28300842 -1.        ] 15\n",
      "[ 0.18660219 -0.28528056  0.43864223  3.06507702  0.14960002  1.61789832\n",
      " -1.        ]\n",
      "episode_0555175.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555023.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  3.13404893e-17\n",
      "  0.00000000e+00  0.00000000e+00  8.54232035e-02 -8.54191063e-02\n",
      "  4.59984111e-01  3.56642476e-04 -1.36635563e-05 -3.05186536e+00\n",
      "  8.67575002e-02 -7.86593685e-02  4.99970981e-01  2.42083690e-05\n",
      "  2.63099647e-04  1.69639132e+00  3.28638680e-02  8.09937913e-02\n",
      "  4.60987877e-01  2.85451292e-04 -9.14610589e-07  1.79992981e+00] 24\n",
      "[ 5.29985594e-02 -9.23005756e-02  5.21339609e-01  3.02408079e+00\n",
      " -4.63488727e-02  1.78775075e+00  1.36463101e-06 -7.38623980e-01\n",
      "  9.92598892e-01  1.81305218e+00 -2.14918378e+00 -1.06067966e+00\n",
      "  1.78426161e+00  4.60993163e-01 -1.00000000e+00] 15\n",
      "[ 0.06772919 -0.09135296  0.51979504  2.99579256 -0.04485753  1.76731073\n",
      " -1.        ]\n",
      "episode_0555023.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553572.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  2.14816590e-17\n",
      "  0.00000000e+00  0.00000000e+00 -2.45232903e-01 -7.17809613e-02\n",
      "  4.59989425e-01 -3.79935305e-05 -1.68386942e-05  1.83724826e+00\n",
      " -4.57917483e-03  1.04477298e-01  4.60990053e-01 -1.23291572e-06\n",
      " -3.18987751e-06  2.08586749e+00  6.86276193e-02  8.52458669e-02\n",
      "  4.60989983e-01  3.33026078e-08 -3.67448673e-06  1.55915492e+00] 24\n",
      "[ 8.43396493e-04 -6.83810284e-02  5.79256317e-01  3.07099712e+00\n",
      " -1.04267992e-01  1.47768275e+00  7.99982143e-02 -7.43444689e-01\n",
      "  9.13088129e-01  1.94709499e+00 -2.13155111e+00 -9.02928559e-01\n",
      "  1.75246953e+00  8.08487099e-01  1.00000000e+00] 15\n",
      "[ 0.00362892 -0.06734004  0.57968008  3.07253301 -0.10249132  1.47682749\n",
      "  1.        ]\n",
      "episode_0553572.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554807.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12360046e-01  1.25297007e-19  4.74139596e-18\n",
      "  0.00000000e+00  0.00000000e+00  3.74362692e-02 -1.01201135e-01\n",
      "  4.59989896e-01 -6.46861534e-06 -3.57746715e-07  1.68554332e+00\n",
      "  2.51699154e-01 -3.06608066e-01  3.62293803e-01  2.70566846e-05\n",
      " -2.98717041e-03  1.31423797e+00  1.57146226e-01 -2.68335630e-01\n",
      "  4.91838102e-01 -3.50275670e-02 -1.47471651e-01  1.53475800e+00] 24\n",
      "[ 0.15761201 -0.27249629  0.48674461  3.0814443  -0.02936234  1.55508289\n",
      "  0.04038779 -1.09356553  1.07762868  1.7614163  -2.15790898 -1.09796364\n",
      "  1.74848612  0.31650702 -1.        ] 15\n",
      "[ 0.15472449 -0.2598594   0.49748117  3.09066216 -0.04610103  1.56705621\n",
      " -1.        ]\n",
      "episode_0554807.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554709.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  5.10556345e-07  1.25297007e-19 -7.29191593e-14\n",
      "  0.00000000e+00  0.00000000e+00  3.75127159e-02 -1.01546962e-01\n",
      "  4.59928573e-01  2.91790091e-03 -2.19205217e-04  1.68542884e+00\n",
      "  2.51753136e-01 -1.00275245e-01  3.62349792e-01  1.17726543e-05\n",
      " -2.19960784e-05  1.31317360e+00  1.48068890e-01 -9.08198658e-02\n",
      "  3.62314709e-01  1.95857540e-03 -5.02590157e-05  1.42869131e+00] 24\n",
      "[ 0.17611022 -0.23924453  0.50767473  3.09104472 -0.05506905  1.54276995\n",
      "  0.0800001  -0.96545162  1.11413771  1.75915599 -2.03339807 -1.10473665\n",
      "  1.6883899   0.34491767  1.        ] 15\n",
      "[ 0.17860588 -0.24289859  0.50093864  3.09762408 -0.04524788  1.54677343\n",
      "  1.        ]\n",
      "episode_0554709.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553966.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16620799e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45232972e-01 -7.17772199e-02\n",
      "  4.59989031e-01  3.58104797e-05  4.16132508e-05  1.83719529e+00\n",
      "  2.29583647e-01 -6.97409665e-02  4.59988820e-01 -1.17276961e-05\n",
      "  7.69459095e-05  1.66625108e+00  1.48267666e-01 -2.99616802e-01\n",
      "  3.62349472e-01  3.19565068e-05 -1.78150613e-07  1.43074903e+00] 24\n",
      "[ 0.15340019 -0.29858945  0.49374082  3.05637621 -0.06648382  1.42977358\n",
      "  0.07999971 -1.22021646  1.05331376  1.80046193 -2.22861776 -1.07977501\n",
      "  1.81173049  0.39691776  1.        ] 15\n",
      "[ 0.15672599 -0.29289141  0.50459029  3.05593791 -0.0800207   1.43591361\n",
      "  1.        ]\n",
      "episode_0553966.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555120.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04241020e-02 -8.73454050e-02\n",
      "  4.59990009e-01 -7.24578061e-08  3.47248077e-08 -2.92825767e+00\n",
      "  2.04496239e-01 -6.05547979e-02  4.59989622e-01  0.00000000e+00\n",
      " -1.57079633e+00  3.74553066e+00  3.28695269e-02  8.09799432e-02\n",
      "  4.60987877e-01  2.85451754e-04 -9.10180615e-07  1.80034500e+00] 24\n",
      "[ 0.20810065 -0.0810915   0.52244591  3.10962342 -0.03512169  1.66929921\n",
      "  0.07999778 -0.40688536  1.1311607   1.62212985 -1.56598278 -1.1428228\n",
      "  1.56847591  0.29742466  1.        ] 15\n",
      "[ 0.20730347 -0.08132696  0.52175323  3.10943946 -0.03899507  1.67056564\n",
      "  1.        ]\n",
      "episode_0555120.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554231.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  1.25754439e-08  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  3.09251988e-02  6.55095029e-02\n",
      "  4.60989717e-01  5.45542242e-06  1.97403266e-08  1.52078417e+00\n",
      "  2.51755810e-01 -1.00275894e-01  3.62348369e-01 -2.89374028e-05\n",
      "  1.14786923e-04  1.31325989e+00  1.48047961e-01 -9.08204792e-02\n",
      "  3.62343756e-01  3.46354264e-04  8.60945379e-06  1.42848659e+00] 24\n",
      "[ 0.13480334 -0.20429616  0.41441792  2.97784832 -0.20415365  1.41406185\n",
      "  0.07367335 -1.03939614  1.2213593   1.63214006 -2.33374355 -1.42042752\n",
      "  1.98775104  0.70699174  1.        ] 15\n",
      "[ 0.13082389 -0.20857688  0.42211999  2.97800811 -0.20602443  1.42591395\n",
      "  1.        ]\n",
      "episode_0554231.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554616.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.48543264e-02  6.15973786e-13  3.57388672e-09 -7.50711294e-05\n",
      "  0.00000000e+00  0.00000000e+00  3.74223222e-02 -1.01544055e-01\n",
      "  4.59990010e-01 -6.41945016e-11 -2.28191790e-11  1.68543845e+00\n",
      "  2.51752534e-01 -1.00275374e-01  3.62349999e-01  2.20499312e-12\n",
      " -1.13793038e-13  1.31319892e+00  1.48040739e-01 -9.08196359e-02\n",
      "  3.62349999e-01 -3.62604337e-13 -6.16538210e-14  1.42848667e+00] 24\n",
      "[-0.04605793 -0.11376273  0.58081334  3.11081442 -0.10738032  1.56917472\n",
      "  0.07999882 -0.89554888  1.0330732   2.09265056 -2.29958207 -0.86900383\n",
      "  1.70089247  0.76419773  1.        ] 15\n",
      "[-0.04042001 -0.11105049  0.58169241  3.1020862  -0.11122745  1.55772185\n",
      "  1.        ]\n",
      "episode_0554616.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553633.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  2.89987941e-17\n",
      "  0.00000000e+00  0.00000000e+00 -2.45232267e-01 -7.17804432e-02\n",
      "  4.59990000e-01 -7.33438503e-07 -4.29142047e-07  1.83724814e+00\n",
      " -4.57917462e-03  1.04477298e-01  4.60990053e-01 -1.23203689e-06\n",
      " -3.18874956e-06  2.08586747e+00  2.65687143e-02 -1.01986102e-01\n",
      "  4.62031464e-01  1.11097184e-02  5.76354238e-02  1.46414986e+00] 24\n",
      "[ 0.02485634 -0.1235954   0.4796195   3.05867622  0.03433487  1.47241815\n",
      "  0.05913174 -0.78355941  0.94448433  1.78834524 -2.25607408 -1.03692478\n",
      "  1.77391587  0.79768515  1.        ] 15\n",
      "[ 0.02591684 -0.12440455  0.48153288  3.05065159  0.03072523  1.46632268\n",
      "  1.        ]\n",
      "episode_0553633.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555099.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  8.80240516e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04227507e-02 -8.73436151e-02\n",
      "  4.59990010e-01 -8.96032345e-12  5.12463269e-12 -2.92824313e+00\n",
      "  2.04498272e-01 -6.05531279e-02  4.59989255e-01  0.00000000e+00\n",
      " -1.57079633e+00  3.74553168e+00  3.28682784e-02  8.09829886e-02\n",
      "  4.60987877e-01  2.85451651e-04 -9.11156756e-07  1.80025359e+00] 24\n",
      "[ 0.27842386 -0.00327811  0.58945961  3.051887   -0.16375287  1.5960765\n",
      "  0.07963749 -0.04240051  1.13057993  1.54630934 -1.01575464 -1.16339064\n",
      "  1.54816446  0.20723666  1.        ] 15\n",
      "[ 0.27504102 -0.01188762  0.58520125  3.05852747 -0.15236947  1.60026451\n",
      "  1.        ]\n",
      "episode_0555099.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554537.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.48543264e-02  3.13995437e-13  1.38695132e-19 -8.57405619e-04\n",
      "  0.00000000e+00  1.00000000e+00  3.74223222e-02 -1.01544055e-01\n",
      "  4.59990010e-01 -6.41937583e-11 -2.28188891e-11  1.68543845e+00\n",
      "  2.51752534e-01 -1.00275374e-01  3.62349999e-01  2.90400102e-12\n",
      " -1.27993143e-13  1.31319892e+00  1.48040739e-01 -9.08196359e-02\n",
      "  3.62349999e-01 -3.36183826e-13  9.34688016e-15  1.42848667e+00] 24\n",
      "[ 2.77863624e-01  2.96717991e-02  5.58148415e-01  3.11144688e+00\n",
      " -1.26280811e-01  1.53684813e+00 -1.57651433e-05  2.05112395e-01\n",
      "  1.15197651e+00  1.37393591e+00 -7.17287512e-01 -1.10058826e+00\n",
      "  1.50107166e+00  1.77554577e-01 -1.00000000e+00] 15\n",
      "[ 0.27667844  0.02860707  0.55870424  3.11203882 -0.1239714   1.54230433\n",
      " -1.        ]\n",
      "episode_0554537.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554983.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  2.64543515e-17\n",
      "  0.00000000e+00  0.00000000e+00  8.53799987e-02 -8.47575386e-02\n",
      "  4.59988810e-01  1.14091568e-04  4.80936845e-06 -3.04750911e+00\n",
      "  1.46601273e-01 -1.61833427e-01  5.49351960e-01  5.42895949e-02\n",
      " -2.41316280e-01  1.60301477e+00  3.28615589e-02  8.09994753e-02\n",
      "  4.60987877e-01  2.85451105e-04 -9.16422373e-07  1.79975972e+00] 24\n",
      "[ 0.14798128 -0.17114585  0.54850018  3.11557644 -0.0920162   1.59683281\n",
      "  0.0409269  -0.83977483  1.0421373   1.79241546 -1.9613216  -0.98803689\n",
      "  1.68226963  0.36500289 -1.        ] 15\n",
      "[ 0.13882957 -0.1586851   0.54897235  3.11139493 -0.09183086  1.61488882\n",
      " -1.        ]\n",
      "episode_0554983.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553710.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  8.80261594e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45232275e-01 -7.17804092e-02\n",
      "  4.59990010e-01 -8.31932643e-10  5.62043283e-10  1.83724642e+00\n",
      " -4.69943719e-03  1.04628259e-01  4.60892769e-01 -1.15164866e-03\n",
      "  9.37029809e-03  2.08548501e+00  2.54335101e-02 -1.03039058e-01\n",
      "  4.59990010e-01  2.41034177e-10 -1.31065159e-11  1.46114331e+00] 24\n",
      "[ 0.19256089 -0.01855688  0.55111241  3.05345844 -0.04159945  1.68444531\n",
      "  0.07998035 -0.25403553  1.07669903  1.59445639 -1.46769601 -1.14204771\n",
      "  1.57602418  0.33639862  1.        ] 15\n",
      "[ 0.18141361 -0.0230111   0.54726822  3.05915998 -0.03331745  1.69773462\n",
      "  1.        ]\n",
      "episode_0553710.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554166.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16603889e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  3.09306702e-02  6.55134507e-02\n",
      "  4.60989717e-01  5.36964993e-06 -3.79854492e-06  1.52047160e+00\n",
      "  2.51940550e-01 -3.07651426e-01  3.62348296e-01  9.25794754e-05\n",
      " -7.81730174e-05  1.31013434e+00  1.48276286e-01 -2.99578686e-01\n",
      "  3.62347769e-01 -1.43862409e-04 -7.44511204e-07  1.43071161e+00] 24\n",
      "[ 0.13248617 -0.32163683  0.53293032  3.1048422  -0.11021976  1.51147798\n",
      "  0.08000019 -1.31510141  1.13369484  1.91542271 -2.23349278 -0.9995534\n",
      "  1.7027377   0.26551232  1.        ] 15\n",
      "[ 0.1385845  -0.33622709  0.52782875  3.09619664 -0.09988336  1.50812165\n",
      "  1.        ]\n",
      "episode_0554166.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554017.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16622301e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45237365e-01 -7.17796814e-02\n",
      "  4.59989796e-01 -7.76144989e-05 -3.55245668e-05  1.83734809e+00\n",
      "  2.16466257e-01 -2.29273981e-01  4.86027036e-01  5.86821659e-02\n",
      " -3.44058844e-02  1.42967491e+00  1.48268835e-01 -2.99619366e-01\n",
      "  3.62349483e-01  3.46841162e-05 -3.06001116e-07  1.43075589e+00] 24\n",
      "[ 0.21518188 -0.23838006  0.49114327  3.10811225 -0.00502317  1.50471379\n",
      "  0.04148542 -0.84711156  1.05329687  1.63624038 -1.8869745  -1.08660161\n",
      "  1.68970463  0.31539603 -1.        ] 15\n",
      "[ 0.21665689 -0.24624083  0.48469081  3.09277482  0.00309912  1.50502775\n",
      " -1.        ]\n",
      "episode_0554017.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554141.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16597883e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  3.09537288e-02  6.55139085e-02\n",
      "  4.60969493e-01  1.04425919e-03 -2.07115314e-05  1.52033889e+00\n",
      "  2.51938877e-01 -3.07642044e-01  3.62349994e-01  1.07567824e-07\n",
      " -3.75276531e-07  1.31016371e+00  1.48278270e-01 -2.99576649e-01\n",
      "  3.62349999e-01  9.02398234e-12 -8.37027759e-12  1.43071879e+00] 24\n",
      "[ 0.02570719  0.0384542   0.50746832  3.05640548 -0.14875162  1.5799218\n",
      "  0.07990986 -0.35621674  0.83482539  1.56023445 -1.94901458 -0.9515534\n",
      "  1.98382065  0.73192646  1.        ] 15\n",
      "[ 0.02567475  0.03003779  0.51355371  3.06305496 -0.15848841  1.58292642\n",
      "  1.        ]\n",
      "episode_0554141.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555157.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04243610e-02 -8.73484528e-02\n",
      "  4.59989636e-01 -1.06439127e-04  4.06030208e-05 -2.92826416e+00\n",
      "  2.13371082e-01 -2.05379353e-01  4.96130996e-01  3.12299185e+00\n",
      " -1.49402851e+00  2.54146840e-01  3.28648430e-02  8.09744561e-02\n",
      "  4.60988554e-01  9.39721956e-05 -3.57763467e-06  1.80036416e+00] 24\n",
      "[ 0.21120486 -0.195327    0.49523873  3.10394243  0.06386117  1.64599151\n",
      "  0.04221216 -0.68851527  1.11096765  1.65065926 -1.79806675 -1.17021445\n",
      "  1.56377606  0.2601386  -1.        ] 15\n",
      "[ 0.20959214 -0.20289302  0.4912141   3.10252839  0.07210151  1.64495306\n",
      " -1.        ]\n",
      "episode_0555157.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553651.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  3.11671985e-17\n",
      "  0.00000000e+00  0.00000000e+00 -2.45232662e-01 -7.17800019e-02\n",
      "  4.59989545e-01 -1.30801385e-05  2.64216722e-05  1.83724788e+00\n",
      " -4.57917361e-03  1.04477298e-01  4.60990053e-01 -1.23519383e-06\n",
      " -3.19200814e-06  2.08586737e+00  2.54327168e-02 -1.03038582e-01\n",
      "  4.59989650e-01 -5.89456594e-05 -2.86825396e-05  1.46114679e+00] 24\n",
      "[ 0.05624915 -0.10058482  0.57693643  3.02242397 -0.14663604  1.36631503\n",
      "  0.07999851 -0.83870822  0.93791977  1.93187542 -2.13800328 -0.98393848\n",
      "  1.79093502  0.8366391   1.        ] 15\n",
      "[ 0.06347829 -0.09607035  0.5799205   3.01615226 -0.1547915   1.36996192\n",
      "  1.        ]\n",
      "episode_0553651.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553903.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16683424e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45253681e-01 -7.17919883e-02\n",
      "  4.59976005e-01 -1.21037271e-03 -3.67063554e-04  1.83721680e+00\n",
      "  2.29561692e-01 -6.97430339e-02  4.59988820e-01 -1.17276844e-05\n",
      "  7.69450719e-05  1.66628657e+00  2.54319937e-02 -1.03041165e-01\n",
      "  4.59989770e-01  2.33812625e-05  4.29684867e-07  1.46121705e+00] 24\n",
      "[ 0.01716618 -0.13761804  0.52830589 -3.1052614  -0.1778619   1.4905431\n",
      "  0.07999918 -1.00569296  1.00827438  1.92180392 -2.32207127 -0.87373307\n",
      "  1.89398879  0.64653719  1.        ] 15\n",
      "[ 0.01649167 -0.13190907  0.52414243 -3.11715953 -0.17178623  1.48535986\n",
      "  1.        ]\n",
      "episode_0553903.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554526.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.48543264e-02  2.68833055e-13  1.38695132e-19  4.62777583e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.74223222e-02 -1.01544055e-01\n",
      "  4.59990010e-01 -6.41947567e-11 -2.28193261e-11  1.68543845e+00\n",
      "  2.51752534e-01 -1.00275374e-01  3.62349999e-01  2.90041492e-12\n",
      " -1.28371546e-13  1.31319892e+00  1.48040739e-01 -9.08196359e-02\n",
      "  3.62349999e-01 -3.36909261e-13  9.06415456e-15  1.42848667e+00] 24\n",
      "[ 2.69260884e-01  5.85602275e-02  5.97301340e-01  3.11727289e+00\n",
      " -2.34547575e-01  1.51712390e+00  8.40191775e-06  2.75643783e-01\n",
      "  1.13455795e+00  1.38004466e+00 -6.09536991e-01 -1.04890612e+00\n",
      "  1.52543935e+00  1.83066899e-01 -1.00000000e+00] 15\n",
      "[ 0.27095599  0.0563222   0.59207049  3.11255485 -0.22104494  1.52087197\n",
      " -1.        ]\n",
      "episode_0554526.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554111.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16597877e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00 -1.13320352e-01 -7.84188642e-02\n",
      "  5.57956266e-01  3.51461523e-03 -1.72073833e-01  1.75252890e+00\n",
      "  2.51938876e-01 -3.07642034e-01  3.62349999e-01  7.14268683e-09\n",
      " -2.54699781e-08  1.31016347e+00  1.48278270e-01 -2.99576649e-01\n",
      "  3.62349999e-01  1.50403121e-11 -8.04063180e-12  1.43071879e+00] 24\n",
      "[-0.11133716 -0.09157388  0.56527065  3.11032678 -0.18297381  1.81869843\n",
      "  0.04064171 -0.93172784  1.00813122  2.13674411 -2.44013872 -0.79938646\n",
      "  1.87200594  0.59945387 -1.        ] 15\n",
      "[-0.09984625 -0.08598401  0.56737603  3.09985014 -0.18817436  1.80226656\n",
      " -1.        ]\n",
      "episode_0554111.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554019.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16622397e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45237467e-01 -7.17796222e-02\n",
      "  4.59989798e-01 -7.75174119e-05 -3.54966850e-05  1.83736141e+00\n",
      "  2.19632869e-01 -2.44866117e-01  4.72142709e-01  2.90401906e-02\n",
      " -1.79597775e-02  1.43012556e+00  1.48268909e-01 -2.99619532e-01\n",
      "  3.62349483e-01  3.47122934e-05 -3.06001039e-07  1.43075633e+00] 24\n",
      "[ 0.21808869 -0.25379483  0.47762296  3.08066194  0.0132691   1.50403674\n",
      "  0.04147963 -0.88311379  1.05466347  1.62365405 -1.92955396 -1.12960066\n",
      "  1.71705931  0.31635035 -1.        ] 15\n",
      "[ 0.22008376 -0.26161359  0.46906011  3.06502964  0.02738048  1.50395112\n",
      " -1.        ]\n",
      "episode_0554019.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554500.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.48543264e-02  1.69204270e-13  1.38695132e-19  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.74223222e-02 -1.01544055e-01\n",
      "  4.59990010e-01 -6.38612703e-11 -2.29957553e-11  1.68543845e+00\n",
      "  2.51752534e-01 -1.00275374e-01  3.62349999e-01  1.34845521e-11\n",
      "  4.63547309e-12  1.31319892e+00  1.48040739e-01 -9.08196359e-02\n",
      "  3.62349999e-01 -2.67996378e-12  1.50092341e-12  1.42848667e+00] 24\n",
      "[ 0.27549461 -0.03571757  0.60984043  3.11940327 -0.18973551  1.50140349\n",
      "  0.07998631 -0.11875476  0.99928205  1.42098723 -1.05717893 -0.91824978\n",
      "  1.58738584  0.23155372  1.        ] 15\n",
      "[ 0.27571139 -0.02819603  0.61626642  3.1228768  -0.20649819  1.51222337\n",
      "  1.        ]\n",
      "episode_0554500.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554981.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  2.61941429e-17\n",
      "  0.00000000e+00  0.00000000e+00  8.53797974e-02 -8.47568460e-02\n",
      "  4.59988810e-01  1.14091567e-04  4.80936853e-06 -3.04750924e+00\n",
      "  1.63520418e-01 -1.84347287e-01  5.45464026e-01  5.27481405e-02\n",
      " -2.37990886e-01  1.57065707e+00  3.28614433e-02  8.09997604e-02\n",
      "  4.60987877e-01  2.85451095e-04 -9.16513166e-07  1.79975119e+00] 24\n",
      "[ 0.16492499 -0.19399276  0.54424915  3.11345965 -0.08838292  1.5627971\n",
      "  0.04092669 -0.87484422  1.04961794  1.7817522  -1.95310875 -1.00055942\n",
      "  1.68028696  0.35121521 -1.        ] 15\n",
      "[ 0.15409681 -0.17948348  0.54738338  3.11645146 -0.09088387  1.58401204\n",
      " -1.        ]\n",
      "episode_0554981.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554435.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 4.46116810e-02 -3.63356524e-10  1.38695132e-19  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.74223222e-02 -1.01544072e-01\n",
      "  4.59989988e-01 -7.40878842e-09 -7.64312486e-07  1.68543848e+00\n",
      "  2.51752530e-01 -1.00275388e-01  3.62349991e-01  7.38794128e-07\n",
      " -1.28121144e-07  1.31320161e+00  1.48040732e-01 -9.08196194e-02\n",
      "  3.62349999e-01 -1.24720155e-08  1.08364762e-08  1.42848680e+00] 24\n",
      "[-2.01966627e-02  2.84414252e-03  5.19661095e-01  3.01068386e+00\n",
      " -8.05949562e-02  1.13853897e+00  4.87958622e-02 -5.08030048e-01\n",
      "  3.77654312e-01  1.61387852e+00 -2.10043733e+00 -5.93104443e-01\n",
      "  2.09540210e+00  1.04690404e+00 -1.00000000e+00] 15\n",
      "[-0.01234473  0.00439532  0.52058566  3.00357757 -0.09399725  1.12912055\n",
      " -1.        ]\n",
      "episode_0554435.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555150.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04241024e-02 -8.73454035e-02\n",
      "  4.59990010e-01 -2.31758328e-12 -8.18891645e-13 -2.92825767e+00\n",
      "  2.20581532e-01 -1.39452625e-01  5.04226995e-01 -2.41608585e+00\n",
      " -1.49860925e+00 -4.79916580e-01  3.28655709e-02  8.09754021e-02\n",
      "  4.60988555e-01  9.39324590e-05 -3.57759385e-06  1.80038210e+00] 24\n",
      "[ 0.21821947 -0.1293743   0.50328042  3.08914945  0.01248727  1.65341417\n",
      "  0.04221398 -0.52224116  1.12349013  1.61687585 -1.66686127 -1.17299143\n",
      "  1.58481933  0.2872884  -1.        ] 15\n",
      "[ 0.21805911 -0.14065796  0.50533499  3.0916232   0.01458269  1.65282048\n",
      " -1.        ]\n",
      "episode_0555150.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554920.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12367127e-01  1.25297007e-19  1.86770079e-17\n",
      "  0.00000000e+00  0.00000000e+00  8.56472921e-02 -8.46925731e-02\n",
      "  4.58874225e-01  1.32465812e-03 -1.36060098e-02 -3.04752751e+00\n",
      "  2.51711937e-01 -3.06552377e-01  3.62348317e-01  1.10060432e-04\n",
      " -6.21813084e-06  1.31424329e+00  3.28579139e-02  8.10084877e-02\n",
      "  4.60987877e-01  2.85450810e-04 -9.19287446e-07  1.79949040e+00] 24\n",
      "[ 0.07749364 -0.08961539  0.48773054  3.03889152  0.04265128  3.11270663\n",
      "  0.07652572 -0.65615303  1.24582741  1.77614359 -2.08836425 -1.22232015\n",
      "  1.66558459 -0.85816588  1.        ] 15\n",
      "[ 0.0773858  -0.09056361  0.49154348  3.04816647  0.02981319  3.08928155\n",
      "  1.        ]\n",
      "episode_0554920.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553655.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  3.16587034e-17\n",
      "  0.00000000e+00  0.00000000e+00 -2.45232407e-01 -7.17805650e-02\n",
      "  4.59989880e-01 -8.89642630e-06 -4.77059977e-06  1.83724755e+00\n",
      " -4.58479982e-03  1.04482416e-01  4.60986380e-01 -1.21309178e-04\n",
      "  3.58905736e-04  2.08586658e+00  2.54206438e-02 -1.03043037e-01\n",
      "  4.59986145e-01 -6.30257128e-04 -3.00877593e-04  1.46114617e+00] 24\n",
      "[ 0.08958389 -0.08266246  0.58341957  3.0106018  -0.16811758  1.37511923\n",
      "  0.07999987 -0.75423287  0.91845316  1.85607797 -2.02945866 -0.99980112\n",
      "  1.80898193  0.78856054  1.        ] 15\n",
      "[ 0.09982878 -0.07829634  0.58229443  3.01250086 -0.16596922  1.37465706\n",
      "  1.        ]\n",
      "episode_0553655.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554430.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 9.25973422e-02 -3.72426226e-10  1.38695132e-19  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.74223803e-02 -1.01544613e-01\n",
      "  4.59989250e-01 -2.11345041e-07 -2.79355353e-05  1.68543847e+00\n",
      "  2.51752533e-01 -1.00275388e-01  3.62349991e-01  7.47439777e-07\n",
      " -1.26467446e-07  1.31320178e+00  1.48040731e-01 -9.08196190e-02\n",
      "  3.62349999e-01 -1.23869347e-08  1.07711557e-08  1.42848681e+00] 24\n",
      "[-0.06761761 -0.00305836  0.51605139  3.02922142 -0.03796901  1.21155184\n",
      "  0.04884333 -0.59872949  0.38587316  1.76346102 -2.16997939 -0.56443337\n",
      "  2.06654947  1.02955286 -1.        ] 15\n",
      "[-5.79266053e-02 -1.03890643e-03  5.16751857e-01  3.02384234e+00\n",
      " -4.72060749e-02  1.19726961e+00 -1.00000000e+00]\n",
      "episode_0554430.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553659.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  3.21502084e-17\n",
      "  0.00000000e+00  0.00000000e+00 -2.45232339e-01 -7.17805055e-02\n",
      "  4.59989912e-01 -5.57423749e-06 -4.78464790e-06  1.83724573e+00\n",
      " -4.68623971e-03  1.04596530e-01  4.60909523e-01 -1.61832122e-03\n",
      "  7.80309681e-03  2.08589177e+00  2.54342312e-02 -1.03040433e-01\n",
      "  4.59986099e-01  4.35714146e-05 -6.42517775e-05  1.46114321e+00] 24\n",
      "[ 0.13400542 -0.06703253  0.57384613  3.02008326 -0.14479349  1.37548354\n",
      "  0.07999998 -0.61049448  0.91133185  1.72144566 -1.86548085 -1.00937773\n",
      "  1.78845025  0.71816925  1.        ] 15\n",
      "[ 0.14485723 -0.06401138  0.5699888   3.02379786 -0.13407929  1.3776944\n",
      "  1.        ]\n",
      "episode_0553659.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555142.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04241024e-02 -8.73454035e-02\n",
      "  4.59990010e-01 -2.36620155e-12 -7.86390805e-13 -2.92825767e+00\n",
      "  2.15787584e-01 -7.96590442e-02  4.66935695e-01 -2.70176008e+00\n",
      " -1.53644910e+00 -1.40108712e-01  3.28661890e-02  8.09764277e-02\n",
      "  4.60988759e-01  8.31774087e-05 -3.57783466e-06  1.80040248e+00] 24\n",
      "[ 0.21286738 -0.06993047  0.46528471  3.04585022  0.03923618  1.69433362\n",
      "  0.04254205 -0.359781    1.14654054  1.52460376 -1.61275339 -1.25078234\n",
      "  1.63765086  0.32654407 -1.        ] 15\n",
      "[ 0.21384753 -0.07448356  0.47081078  3.05201112  0.03205029  1.6866166\n",
      " -1.        ]\n",
      "episode_0555142.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554340.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.56877430e-07  1.38695132e-19  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.69648052e-02 -2.20912751e-04\n",
      "  4.93929654e-01  7.99408584e-02 -3.55127395e-02  1.58244107e+00\n",
      "  2.51751247e-01 -1.00275883e-01  3.62349999e-01  7.92627114e-14\n",
      "  1.40265687e-12  1.31324857e+00  1.48040654e-01 -9.08197395e-02\n",
      "  3.62349999e-01 -8.97051052e-10  6.94178945e-10  1.42848714e+00] 24\n",
      "[ 0.03731805 -0.00617706  0.49648801  3.12810643 -0.18697555  1.56178737\n",
      "  0.04116978 -0.52017295  0.99189593  1.65415428 -2.04183626 -1.01438864\n",
      "  1.94503351  0.71740122 -1.        ] 15\n",
      "[ 0.0372813  -0.01671679  0.49748405  3.12985519 -0.18420592  1.56522379\n",
      " -1.        ]\n",
      "episode_0554340.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554004.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16621725e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45234839e-01 -7.17781985e-02\n",
      "  4.59990010e-01  1.22415040e-10  2.74765042e-11  1.83730185e+00\n",
      "  2.22119177e-01 -1.03066344e-01  4.94256608e-01  2.50185260e-02\n",
      " -7.63652509e-02  1.53208999e+00  1.48267738e-01 -2.99618302e-01\n",
      "  3.62349999e-01 -1.11112963e-10 -1.08433109e-10  1.43075329e+00] 24\n",
      "[ 0.22221091 -0.11161724  0.49758934  3.06995847 -0.04169258  1.60647236\n",
      "  0.04147782 -0.51376031  1.05235922  1.54252969 -1.67637995 -1.10026659\n",
      "  1.71781186  0.32137438 -1.        ] 15\n",
      "[ 0.22176382 -0.12253146  0.50413575  3.07991069 -0.05184639  1.59765647\n",
      " -1.        ]\n",
      "episode_0554004.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554750.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  1.53926913e-01  1.25297007e-19 -4.50162557e-17\n",
      "  0.00000000e+00  0.00000000e+00  3.74363764e-02 -1.01201075e-01\n",
      "  4.59990009e-01  1.14526158e-08 -2.51117787e-08  1.68554306e+00\n",
      "  2.51750830e-01 -2.49330447e-01  3.62347063e-01  1.93005068e-06\n",
      " -1.12214272e-04  1.31365390e+00  1.48100181e-01 -2.39835475e-01\n",
      "  3.62348509e-01 -2.51534365e-05  2.53676332e-05  1.42871562e+00] 24\n",
      "[ 1.78759895e-01 -3.75904935e-01  3.46992504e-01  3.02124708e+00\n",
      " -2.06061987e-02  1.49906529e+00  7.49517316e-07 -1.26249090e+00\n",
      "  1.18328197e+00  1.48447874e+00 -2.29421590e+00 -1.42793655e+00\n",
      "  1.96233236e+00  2.98133148e-01 -1.00000000e+00] 15\n",
      "[ 0.1779144  -0.38459295  0.35235398  3.01206106 -0.02203452  1.50005157\n",
      " -1.        ]\n",
      "episode_0554750.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554054.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16602208e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45237283e-01 -7.17793112e-02\n",
      "  4.59989748e-01 -6.10153026e-05 -2.89213634e-05  1.83737007e+00\n",
      "  2.51943216e-01 -3.07646459e-01  3.62346442e-01  1.84032882e-04\n",
      "  1.34219538e-05  1.31018135e+00  1.48269293e-01 -2.99584772e-01\n",
      "  3.62340972e-01 -3.33423499e-05 -2.19981083e-04  1.43078008e+00] 24\n",
      "[ 0.13155062 -0.28394354  0.50322568  3.01913024 -0.05923522  1.46688607\n",
      "  0.07999711 -1.22475281  1.10288675  1.86611324 -2.29108778 -1.12799441\n",
      "  1.77113665  0.44514256  1.        ] 15\n",
      "[ 0.11791015 -0.27523216  0.51056865  3.01326469 -0.06768661  1.48307413\n",
      "  1.        ]\n",
      "episode_0554054.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553806.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  8.80043888e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45235276e-01 -7.17812665e-02\n",
      "  4.59987099e-01 -1.56978703e-04 -6.20302204e-06  1.83724259e+00\n",
      "  2.29548893e-01 -6.97471947e-02  4.59989693e-01 -3.35976489e-05\n",
      " -1.08610717e-05  1.66619459e+00  2.54333363e-02 -1.03039117e-01\n",
      "  4.59989745e-01 -5.39682676e-06 -5.81805862e-06  1.46114491e+00] 24\n",
      "[ 0.192701   -0.14012727  0.54688891  3.06216799 -0.16474019  1.50469597\n",
      "  0.07999982 -0.72566878  1.12355828  1.74950962 -1.85141044 -1.11468703\n",
      "  1.71759089  0.46440208  1.        ] 15\n",
      "[ 0.19210107 -0.14777539  0.54690116  3.06490333 -0.16231783  1.49387034\n",
      "  1.        ]\n",
      "episode_0553806.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555226.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12192583e-01  1.25297007e-19  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04274721e-02 -8.73486409e-02\n",
      "  4.59989221e-01 -5.46145386e-05 -1.61887229e-06 -2.92826469e+00\n",
      "  2.01103363e-01 -2.94367527e-01  3.62349448e-01  0.00000000e+00\n",
      " -1.57079633e+00  3.47297445e+00  3.28575514e-02  8.09649899e-02\n",
      "  4.60988554e-01  9.39714998e-05 -3.57805371e-06  1.80018452e+00] 24\n",
      "[ 0.18131977 -0.23620724  0.54724712  3.13044179 -0.01043182  1.38542562\n",
      "  0.07999985 -0.89610872  1.04603199  1.78069752 -1.90115804 -1.0150809\n",
      "  1.57541644  0.46349508  1.        ] 15\n",
      "[ 0.18035984 -0.23274879  0.54893828  3.1387498  -0.01318183  1.39921288\n",
      "  1.        ]\n",
      "episode_0555226.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555102.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  8.80240516e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04227507e-02 -8.73436151e-02\n",
      "  4.59990010e-01 -8.95873146e-12  5.12406699e-12 -2.92824313e+00\n",
      "  2.04498010e-01 -6.05532887e-02  4.59989255e-01  0.00000000e+00\n",
      " -1.57079633e+00  3.74553116e+00  3.28684566e-02  8.09825534e-02\n",
      "  4.60987877e-01  2.85451666e-04 -9.11017350e-07  1.80026665e+00] 24\n",
      "[ 0.26524202 -0.02884816  0.57527312  3.0795437  -0.12966825  1.60847986\n",
      "  0.07996669 -0.15153294  1.12900422  1.57313452 -1.16009786 -1.14527207\n",
      "  1.53807826  0.22730745  1.        ] 15\n",
      "[ 0.25937582 -0.03663971  0.57001208  3.08918613 -0.11824285  1.6144291\n",
      "  1.        ]\n",
      "episode_0555102.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554405.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01 -4.70709273e-08  1.38695132e-19  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.73390224e-02 -1.01570189e-01\n",
      "  4.59985689e-01  1.96816777e-05 -1.75696743e-04  1.68542181e+00\n",
      "  2.51751515e-01 -1.00275158e-01  3.62349294e-01 -4.71264875e-05\n",
      "  5.24630230e-08  1.31320710e+00  1.48040714e-01 -9.08194453e-02\n",
      "  3.62349964e-01 -6.05073052e-07  3.09142137e-06  1.42848705e+00] 24\n",
      "[-0.23151442 -0.05408498  0.53891987  3.10292782 -0.06967695  1.50164708\n",
      "  0.07999898 -0.76217728  0.76653165  2.21975654 -2.47766844 -0.68431196\n",
      "  1.93587836  1.14498945  1.        ] 15\n",
      "[-0.23109183 -0.04969678  0.53612288  3.09836416 -0.05905396  1.48944672\n",
      "  1.        ]\n",
      "episode_0554405.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553620.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  2.73797189e-17\n",
      "  0.00000000e+00  0.00000000e+00 -2.45232256e-01 -7.17804331e-02\n",
      "  4.59990010e-01 -4.86646038e-10  3.07482279e-10  1.83724819e+00\n",
      " -4.57917463e-03  1.04477298e-01  4.60990053e-01 -1.23022369e-06\n",
      " -3.18646486e-06  2.08586747e+00  5.82281282e-02 -3.70572281e-02\n",
      "  5.01847084e-01  5.62175819e-02  8.77277867e-03  1.46112671e+00] 24\n",
      "[ 0.05632879 -0.05948441  0.51142476  3.10315766 -0.07776895  1.46888129\n",
      "  0.04115896 -0.61300638  0.9665432   1.72046291 -2.04840607 -1.00313653\n",
      "  1.80079313  0.75976523 -1.        ] 15\n",
      "[ 0.05318782 -0.06905665  0.50827272  3.11457766 -0.06152095  1.46380748\n",
      " -1.        ]\n",
      "episode_0553620.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553827.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  8.80022471e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45232369e-01 -7.17801573e-02\n",
      "  4.59989789e-01  4.83500751e-06  4.76103933e-06  1.83723450e+00\n",
      "  2.29551285e-01 -6.97477408e-02  4.59989933e-01 -5.84769841e-06\n",
      " -1.83052668e-06  1.66629731e+00  2.54335646e-02 -1.03039143e-01\n",
      "  4.59989894e-01  7.43892646e-06 -6.68006876e-07  1.46113868e+00] 24\n",
      "[ 0.17425529 -0.24131848  0.46186377  3.02496216 -0.10097912  1.48049686\n",
      "  0.07999946 -1.0217333   1.1720179   1.70312991 -2.16124566 -1.24689845\n",
      "  1.81907845  0.46749968  1.        ] 15\n",
      "[ 0.1727935  -0.23925828  0.45327666  3.0166993  -0.09789769  1.48439382\n",
      "  1.        ]\n",
      "episode_0553827.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554656.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 1.86744790e-01  7.72931488e-13  1.25297007e-19 -7.50711294e-05\n",
      "  0.00000000e+00  0.00000000e+00  3.74223222e-02 -1.01544055e-01\n",
      "  4.59990010e-01 -6.41939112e-11 -2.28190035e-11  1.68543845e+00\n",
      "  2.51752534e-01 -1.00275374e-01  3.62349999e-01  2.90013974e-12\n",
      " -1.28652135e-13  1.31319892e+00  1.48040739e-01 -9.08196359e-02\n",
      "  3.62349999e-01 -3.36870659e-13  8.57263744e-15  1.42848667e+00] 24\n",
      "[-0.14312781 -0.0274817   0.52211023  3.12597461  0.00862254  1.73847274\n",
      "  0.04123465 -0.5126559   0.87993196  1.90969893 -2.25986055 -0.85274142\n",
      "  1.77051738  0.83971718 -1.        ] 15\n",
      "[-0.15281362 -0.02734974  0.52198735  3.1269272   0.00563868  1.73974585\n",
      " -1.        ]\n",
      "episode_0554656.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553836.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  8.80009204e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45232433e-01 -7.17802763e-02\n",
      "  4.59990004e-01  4.16108391e-07  2.67157300e-08  1.83723442e+00\n",
      "  2.29551646e-01 -6.97474322e-02  4.59989875e-01  6.76370797e-06\n",
      "  1.33611686e-06  1.66629868e+00  2.54334202e-02 -1.03039115e-01\n",
      "  4.59990007e-01  1.28852849e-07 -9.71749107e-09  1.46113866e+00] 24\n",
      "[ 0.16253343 -0.21683444  0.40267125  3.04734045 -0.12439206  1.50152749\n",
      "  0.07999941 -0.9601648   1.2143403   1.58207452 -2.19162969 -1.32706737\n",
      "  1.91230227  0.50827696  1.        ] 15\n",
      "[ 0.16191489 -0.21442603  0.39741904  3.04848593 -0.12486203  1.50395673\n",
      "  1.        ]\n",
      "episode_0553836.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555203.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12189757e-01  1.25297007e-19  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04261007e-02 -8.73480512e-02\n",
      "  4.59990009e-01 -3.26521586e-08  1.74754725e-08 -2.92827924e+00\n",
      "  2.01103971e-01 -2.94364945e-01  3.62349805e-01  0.00000000e+00\n",
      " -1.57079633e+00  3.47305171e+00  3.28599746e-02  8.09681354e-02\n",
      "  4.60988554e-01  9.39718272e-05 -3.57791448e-06  1.80024423e+00] 24\n",
      "[ 0.17995067 -0.28862592  0.44265944  3.07857649  0.02267323  1.49996376\n",
      "  0.07999836 -1.0367826   1.15266551  1.67040999 -2.12365151 -1.22892822\n",
      "  1.71236482  0.37425125  1.        ] 15\n",
      "[ 0.18038122 -0.28849719  0.44734739  3.08505428  0.01032776  1.49215843\n",
      "  1.        ]\n",
      "episode_0555203.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554574.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.48543264e-02  4.54779538e-13  1.38695132e-19 -7.50711294e-05\n",
      "  0.00000000e+00  1.00000000e+00  3.74223222e-02 -1.01544055e-01\n",
      "  4.59990010e-01 -6.41934016e-11 -2.28188431e-11  1.68543845e+00\n",
      "  2.51752534e-01 -1.00275374e-01  3.62349999e-01  2.20564377e-12\n",
      " -1.13865300e-13  1.31319892e+00  1.48040739e-01 -9.08196359e-02\n",
      "  3.62349999e-01 -3.62362479e-13 -6.16856961e-14  1.42848667e+00] 24\n",
      "[ 0.0064514  -0.13045198  0.54728551 -3.11958442 -0.04402242  1.94618056\n",
      "  0.07999996 -0.78823564  1.14764208  1.95507573 -2.18484834 -0.96919438\n",
      "  1.55729944  0.33187758  1.        ] 15\n",
      "[-0.00395963 -0.13160626  0.54628071 -3.11606657 -0.03671991  1.95547501\n",
      "  1.        ]\n",
      "episode_0554574.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554737.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  3.71640199e-02  1.25297007e-19 -7.08925476e-17\n",
      "  0.00000000e+00  0.00000000e+00  3.74363755e-02 -1.01201075e-01\n",
      "  4.59990009e-01 -1.13374797e-09 -2.91523588e-08  1.68554301e+00\n",
      "  2.51730161e-01 -1.35465116e-01  3.62172114e-01  6.22026942e-03\n",
      "  3.02097891e-03  1.31460007e+00  1.48128195e-01 -1.26132238e-01\n",
      "  3.62342628e-01  1.44751520e-04 -2.59562397e-04  1.42845815e+00] 24\n",
      "[ 1.80025708e-01 -2.58264786e-01  3.37235747e-01  3.06372799e+00\n",
      " -7.20292126e-02  1.49405666e+00  6.65835471e-07 -9.68110562e-01\n",
      "  1.22555961e+00  1.43906061e+00 -2.16986605e+00 -1.40259808e+00\n",
      "  1.96154761e+00  4.57337722e-01 -1.00000000e+00] 15\n",
      "[ 0.18058082 -0.26522348  0.3364023   3.05853016 -0.06804666  1.4978721\n",
      " -1.        ]\n",
      "episode_0554737.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554305.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.56752675e-07  3.25219756e-11  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.09252492e-02  6.55352483e-02\n",
      "  4.60976069e-01 -5.41414182e-05 -5.49311990e-04  1.52080843e+00\n",
      "  2.51751247e-01 -1.00275882e-01  3.62349999e-01  4.25797800e-09\n",
      "  1.88341774e-10  1.31324857e+00  1.48040654e-01 -9.08197395e-02\n",
      "  3.62349999e-01 -5.87324009e-10  4.40313049e-10  1.42848714e+00] 24\n",
      "[ 0.0058918  -0.08977527  0.5497093   3.10403322 -0.27662645  1.5971062\n",
      "  0.07999986 -0.90979037  1.05462148  1.93517608 -2.30681848 -0.95655774\n",
      "  1.95146391  0.65651686  1.        ] 15\n",
      "[ 0.01341391 -0.08166657  0.54806475  3.10311488 -0.27486461  1.58200443\n",
      "  1.        ]\n",
      "episode_0554305.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554380.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  1.13612536e-07  1.38695132e-19  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.73136170e-02 -1.01615148e-01\n",
      "  4.59988452e-01 -2.95715003e-05 -1.08103496e-05  1.68542699e+00\n",
      "  2.51750757e-01 -1.00275926e-01  3.62349444e-01 -3.57821724e-05\n",
      " -6.20711524e-08  1.31325562e+00  1.48040646e-01 -9.08195406e-02\n",
      "  3.62349965e-01 -1.07786002e-06  2.35218238e-06  1.42848704e+00] 24\n",
      "[-0.07894876 -0.11458442  0.58305421 -3.11203141 -0.10978574  1.54192164\n",
      "  0.08000059 -0.92455702  1.0207465   2.13463325 -2.34031886 -0.77789586\n",
      "  1.71745992  0.80363911  1.        ] 15\n",
      "[-0.08771761 -0.11433257  0.58442755 -3.11107159 -0.11394469  1.54494173\n",
      "  1.        ]\n",
      "episode_0554380.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554715.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  6.16504593e-07  1.25297007e-19 -7.19333817e-17\n",
      "  0.00000000e+00  0.00000000e+00  3.75277939e-02 -1.01230421e-01\n",
      "  4.59879479e-01  4.36921013e-03 -1.98306642e-03  1.68554236e+00\n",
      "  2.51753022e-01 -1.00274754e-01  3.62349997e-01  9.07535764e-08\n",
      " -1.70699497e-07  1.31317353e+00  1.48056435e-01 -9.08150336e-02\n",
      "  3.62325477e-01  1.40560256e-03  5.94382872e-05  1.42873127e+00] 24\n",
      "[ 0.17788496 -0.2524499   0.45815959  3.09394034 -0.0266454   1.57830641\n",
      "  0.07999946 -0.9743779   1.14075237  1.67634003 -2.08310912 -1.17463502\n",
      "  1.7369882   0.31757983  1.        ] 15\n",
      "[ 0.17658483 -0.25150423  0.44865583  3.10077166 -0.0346561   1.57596648\n",
      "  1.        ]\n",
      "episode_0554715.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554999.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  2.84203714e-17\n",
      "  0.00000000e+00  0.00000000e+00  8.53366306e-02 -8.50334161e-02\n",
      "  4.60259655e-01  1.73513762e-02  1.96653718e-03 -3.05175875e+00\n",
      "  8.64114232e-02 -7.73842826e-02  4.99894447e-01 -2.64727359e-03\n",
      "  1.85479242e-02  1.69623280e+00  3.28624845e-02  8.09971945e-02\n",
      "  4.60987877e-01  2.85451180e-04 -9.15695810e-07  1.79982794e+00] 24\n",
      "[ 0.0900537  -0.08793372  0.50588484  3.07820199  0.00903311  1.68852707\n",
      "  0.07182815 -0.61396046  0.969903    1.69204359 -1.99405938 -1.0371776\n",
      "  1.723462    0.48102387  1.        ] 15\n",
      "[ 0.09050907 -0.0883738   0.50826649  3.0877181   0.00397268  1.68215311\n",
      "  1.        ]\n",
      "episode_0554999.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554450.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.48543264e-02 -3.53318474e-11  1.38695132e-19  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.74223210e-02 -1.01544057e-01\n",
      "  4.59990009e-01  1.31656768e-08 -5.48579148e-09  1.68543847e+00\n",
      "  2.51752514e-01 -1.00275384e-01  3.62349993e-01  3.10987666e-07\n",
      " -3.06504879e-08  1.31320089e+00  1.48040733e-01 -9.08196275e-02\n",
      "  3.62349999e-01 -1.17980095e-08  8.07786176e-09  1.42848678e+00] 24\n",
      "[-0.03444384 -0.05061306  0.57800213  2.94010371 -0.34623922  1.42272854\n",
      "  0.07553772 -1.05240359  0.75832311  2.12667392 -2.41161173 -0.91860461\n",
      "  2.19537537  0.97018959  1.        ] 15\n",
      "[-0.03696242 -0.05965681  0.57730571  2.95585903 -0.32506694  1.41591214\n",
      "  1.        ]\n",
      "episode_0554450.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554143.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16597894e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  3.09374724e-02  6.55149905e-02\n",
      "  4.60985309e-01  2.29724889e-04 -7.80776261e-06  1.52033850e+00\n",
      "  2.51938863e-01 -3.07642087e-01  3.62349956e-01 -1.38273223e-07\n",
      " -2.34079303e-06  1.31016413e+00  1.48278270e-01 -2.99576649e-01\n",
      "  3.62349999e-01 -8.05396320e-09 -8.21946781e-12  1.43071879e+00] 24\n",
      "[ 0.02642519  0.01936155  0.51998023  3.07265091 -0.16492095  1.58256932\n",
      "  0.07998588 -0.44893327  0.84794722  1.62951902 -1.99172318 -0.93342354\n",
      "  1.973816    0.70683296  1.        ] 15\n",
      "[ 0.02704146  0.01091039  0.52454382  3.08009238 -0.17047083  1.5811314\n",
      "  1.        ]\n",
      "episode_0554143.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553799.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  8.80261594e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45232275e-01 -7.17804092e-02\n",
      "  4.59990010e-01 -8.31622070e-10  5.61812830e-10  1.83724642e+00\n",
      "  2.29550841e-01 -6.97481210e-02  4.59989640e-01  7.35986728e-05\n",
      " -6.97170116e-05  1.66617877e+00  2.54335101e-02 -1.03039058e-01\n",
      "  4.59990010e-01  2.41001886e-10 -1.31220992e-11  1.46114331e+00] 24\n",
      "[ 0.20892276 -0.09629578  0.52947864  3.06443006 -0.14976242  1.55940199\n",
      "  0.07999919 -0.55963227  1.13249494  1.6656808  -1.71695278 -1.14002876\n",
      "  1.71534368  0.41695814  1.        ] 15\n",
      "[ 0.20567443 -0.1023271   0.53397241  3.0700325  -0.15606472  1.5524428\n",
      "  1.        ]\n",
      "episode_0553799.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553934.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16683424e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45234380e-01 -7.17794307e-02\n",
      "  4.59988859e-01 -8.68037083e-05 -3.74911441e-05  1.83720202e+00\n",
      "  2.29572526e-01 -6.97420137e-02  4.59988820e-01 -1.17276902e-05\n",
      "  7.69454852e-05  1.66626906e+00  7.93235301e-02 -2.42367570e-01\n",
      "  4.93688597e-01  2.97094727e-02 -8.14740790e-02  1.55521533e+00] 24\n",
      "[ 0.07908937 -0.23586512  0.49174506  3.09927178 -0.12156155  1.51849166\n",
      "  0.04087086 -1.20804383  1.06723359  1.8684711  -2.37271563 -1.01740606\n",
      "  1.86771363  0.46341419 -1.        ] 15\n",
      "[ 0.0836184  -0.24758965  0.48351735  3.09657721 -0.10297487  1.51494459\n",
      " -1.        ]\n",
      "episode_0553934.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555189.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12174930e-01  1.25297007e-19  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04261004e-02 -8.73480514e-02\n",
      "  4.59990009e-01 -4.69469042e-08  2.85442003e-08 -2.92827924e+00\n",
      "  2.00826993e-01 -2.93222387e-01  3.60513204e-01 -2.90604186e+00\n",
      " -1.49749233e+00  2.84633074e-03  3.28614578e-02  8.09700608e-02\n",
      "  4.60988554e-01  9.39720279e-05 -3.57782925e-06  1.80028077e+00] 24\n",
      "[ 0.20295505 -0.28360321  0.38934559  3.00496803  0.13830535  1.49301699\n",
      "  0.07766226 -0.90775572  1.12796302  1.5246773  -2.08511297 -1.37836431\n",
      "  1.7393112   0.44059491  1.        ] 15\n",
      "[ 0.2034329  -0.28408544  0.39160684  3.00941155  0.13098116  1.49018787\n",
      "  1.        ]\n",
      "episode_0555189.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553973.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16621091e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45235502e-01 -7.17796952e-02\n",
      "  4.59989765e-01 -8.04026754e-05 -3.63272570e-05  1.83721447e+00\n",
      "  2.29586069e-01 -6.97407385e-02  4.59988820e-01 -1.17276975e-05\n",
      "  7.69460019e-05  1.66624717e+00  1.48267929e-01 -2.99617313e-01\n",
      "  3.62349496e-01  3.40414969e-05 -3.06014769e-07  1.43075037e+00] 24\n",
      "[ 0.18406594 -0.23068914  0.55733797  3.04252728 -0.14686876  1.49725756\n",
      "  0.07999842 -1.02085151  1.02574677  1.81418023 -2.01513485 -1.00689701\n",
      "  1.78294434  0.34890279  1.        ] 15\n",
      "[ 0.18853382 -0.21854142  0.5618198   3.0359916  -0.14912004  1.51066018\n",
      "  1.        ]\n",
      "episode_0553973.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554848.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12362888e-01  1.25297007e-19  9.82991816e-18\n",
      "  0.00000000e+00  0.00000000e+00  3.74363904e-02 -1.01201042e-01\n",
      "  4.59990009e-01  2.08151098e-08 -1.48052180e-08  1.68554222e+00\n",
      "  2.51711620e-01 -3.06551971e-01  3.62349998e-01 -1.11500218e-07\n",
      " -1.34082244e-07  1.31415032e+00  3.28481500e-02  8.10173855e-02\n",
      "  4.60983032e-01 -9.48977689e-06  2.73123716e-05  1.79920167e+00] 24\n",
      "[ 0.04472642  0.02769219  0.52952145 -3.10278712 -0.14196524  1.68036955\n",
      "  0.07999675 -0.33399817  1.03453205  1.64860603 -1.79936804 -0.96258527\n",
      "  1.75253232  0.56761405  1.        ] 15\n",
      "[ 0.0459599   0.01721935  0.53568549 -3.08832475 -0.14866626  1.67072483\n",
      "  1.        ]\n",
      "episode_0554848.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553895.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16683424e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45232269e-01 -7.17788454e-02\n",
      "  4.59989866e-01 -1.31534809e-05 -4.93756476e-06  1.83722193e+00\n",
      "  2.29558819e-01 -6.97433044e-02  4.59988820e-01 -1.17276828e-05\n",
      "  7.69449052e-05  1.66629121e+00  2.54343083e-02 -1.03041022e-01\n",
      "  4.59988719e-01  1.13803927e-04 -2.29506083e-06  1.46119712e+00] 24\n",
      "[ 0.05370826 -0.21441185  0.55273213 -3.02532764 -0.20981634  1.45732254\n",
      "  0.07999712 -1.17061346  1.12089964  1.96666405 -2.27689705 -0.81086952\n",
      "  1.75904939  0.49047905  1.        ] 15\n",
      "[ 0.04619272 -0.20090393  0.55212798 -3.03538499 -0.21068047  1.46575942\n",
      "  1.        ]\n",
      "episode_0553895.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554011.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16621993e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45237200e-01 -7.17799683e-02\n",
      "  4.59989691e-01 -8.69818023e-05 -3.82263778e-05  1.83730566e+00\n",
      "  2.15945415e-01 -1.72243877e-01  5.11308170e-01  7.66823103e-02\n",
      " -8.47444990e-02  1.47809931e+00  1.48268548e-01 -2.99618829e-01\n",
      "  3.62349534e-01  3.20215669e-05 -3.06012063e-07  1.43075446e+00] 24\n",
      "[ 0.21549492 -0.18143071  0.51556155  3.12173713 -0.05596082  1.55384245\n",
      "  0.04148046 -0.71453139  1.0538226   1.63583159 -1.777674   -1.04318752\n",
      "  1.67542425  0.30023697 -1.        ] 15\n",
      "[ 0.21459386 -0.19214298  0.51385713  3.12616282 -0.05239666  1.54480816\n",
      " -1.        ]\n",
      "episode_0554011.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554252.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  1.31775553e-07  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  3.09239474e-02  6.55091143e-02\n",
      "  4.60976084e-01 -5.41398365e-05 -5.48754772e-04  1.52078914e+00\n",
      "  2.51751254e-01 -1.00275752e-01  3.62349897e-01  7.92156368e-06\n",
      " -2.29262616e-06  1.31324849e+00  1.48040653e-01 -9.08196963e-02\n",
      "  3.62349999e-01  1.62102840e-10 -2.04701158e-10  1.42848716e+00] 24\n",
      "[ 0.00562359 -0.24546371  0.52591022 -3.13845693 -0.17264714  1.6064435\n",
      "  0.07999571 -1.28312859  1.28888885  2.0473524  -2.50318671 -0.96769655\n",
      "  1.69522323  0.47495352  1.        ] 15\n",
      "[-0.00389863 -0.23889673  0.52948901  3.13657252 -0.18002987  1.62539968\n",
      "  1.        ]\n",
      "episode_0554252.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554285.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.32498896e-07  1.75870430e-03  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.09266848e-02  6.55300150e-02\n",
      "  4.60983149e-01  3.37312010e-05 -2.76682214e-04  1.52079705e+00\n",
      "  2.51735687e-01 -1.00282686e-01  3.62346459e-01 -6.65287754e-04\n",
      " -5.28061541e-04  1.31324888e+00  1.48040654e-01 -9.08197396e-02\n",
      "  3.62349999e-01 -9.43375308e-10  6.02921754e-10  1.42848714e+00] 24\n",
      "[-0.11663537 -0.12567031  0.50644531  3.11626956 -0.18267505  1.74900953\n",
      "  0.02500806 -1.01548141  1.11861184  2.06885768 -2.61313747 -0.93738747\n",
      "  1.91693497  0.70165091  1.        ] 15\n",
      "[-0.11580403 -0.12848241  0.51498378  3.12331331 -0.19664819  1.75071781\n",
      "  1.        ]\n",
      "episode_0554285.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554006.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16621785e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45234624e-01 -7.17772993e-02\n",
      "  4.59988934e-01  3.77438094e-05  4.48281628e-05  1.83729809e+00\n",
      "  2.21539290e-01 -1.20630775e-01  5.04047526e-01  4.07151552e-02\n",
      " -8.93979268e-02  1.51607532e+00  1.48267852e-01 -2.99618464e-01\n",
      "  3.62349842e-01  5.31768571e-06 -3.66670370e-06  1.43075351e+00] 24\n",
      "[ 0.22146866 -0.12931771  0.50758229  3.08507234 -0.05664273  1.59117122\n",
      "  0.0414842  -0.57073598  1.05200412  1.57573684 -1.70013397 -1.07847057\n",
      "  1.70703457  0.31432226 -1.        ] 15\n",
      "[ 0.22083975 -0.1406551   0.51194416  3.09512431 -0.06095025  1.58034516\n",
      " -1.        ]\n",
      "episode_0554006.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554210.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  8.77206713e-02  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  3.09253827e-02  6.55092513e-02\n",
      "  4.60989717e-01  5.36294343e-06 -3.79902763e-06  1.52077436e+00\n",
      "  2.51683278e-01 -1.88342621e-01  3.62243689e-01 -4.70537162e-03\n",
      " -8.77179390e-04  1.31329224e+00  1.48034819e-01 -1.78965196e-01\n",
      "  3.62283598e-01 -9.90579410e-05 -1.66238895e-03  1.42846844e+00] 24\n",
      "[ 1.61709678e-01 -2.86226199e-01  3.70687386e-01  2.94574055e+00\n",
      " -1.24408931e-01  1.43331050e+00  5.40655075e-07 -1.16332966e+00\n",
      "  1.22019698e+00  1.53964611e+00 -2.35041322e+00 -1.50643579e+00\n",
      "  2.00512873e+00  5.73383402e-01 -1.00000000e+00] 15\n",
      "[ 0.16205456 -0.27806848  0.37161947  2.94524761 -0.12696623  1.42926557\n",
      " -1.        ]\n",
      "episode_0554210.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553589.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  2.35922393e-17\n",
      "  0.00000000e+00  0.00000000e+00 -2.45232259e-01 -7.17804352e-02\n",
      "  4.59990008e-01 -1.10645267e-07 -5.51173705e-08  1.83724820e+00\n",
      " -4.57917464e-03  1.04477298e-01  4.60990053e-01 -1.23044704e-06\n",
      " -3.18681924e-06  2.08586747e+00  6.86276199e-02  8.52458670e-02\n",
      "  4.60989983e-01  4.24975355e-08 -3.67338788e-06  1.55915493e+00] 24\n",
      "[ 5.88534204e-02  8.20161444e-04  5.36818923e-01  3.00055579e+00\n",
      " -1.45571300e-01  1.47866274e+00  7.99990694e-02 -4.75693852e-01\n",
      "  8.67834560e-01  1.66553512e+00 -1.96117861e+00 -1.02739347e+00\n",
      "  1.89692916e+00  8.09097948e-01  1.00000000e+00] 15\n",
      "[ 0.06116545  0.0057647   0.53371531  2.99714825 -0.14675583  1.47869918\n",
      "  1.        ]\n",
      "episode_0553589.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554023.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16622434e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45236267e-01 -7.17785277e-02\n",
      "  4.59989950e-01 -2.82798035e-06  1.59435342e-07  1.83736646e+00\n",
      "  2.29229292e-01 -2.72309197e-01  4.39196422e-01 -1.82834363e-03\n",
      "  2.14726271e-02  1.41054702e+00  1.48268309e-01 -2.99619500e-01\n",
      "  3.62349942e-01  3.00890503e-06  9.59132870e-13  1.43075650e+00] 24\n",
      "[ 0.22731076 -0.28115296  0.44508448  3.05031704  0.06615706  1.47977436\n",
      "  0.04148486 -0.90356574  1.05424466  1.56464763 -1.96319869 -1.20300738\n",
      "  1.74654832  0.33399657 -1.        ] 15\n",
      "[ 0.23012159 -0.28803561  0.43509922  3.0416109   0.08183064  1.47423443\n",
      " -1.        ]\n",
      "episode_0554023.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554088.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16597954e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45235787e-01 -7.17759097e-02\n",
      "  4.59984130e-01  2.91148219e-05  7.74113930e-05  1.83742859e+00\n",
      "  2.51938884e-01 -3.07642101e-01  3.62349994e-01  1.21571143e-07\n",
      "  4.61801578e-07  1.31016364e+00  1.48276601e-01 -2.99576459e-01\n",
      "  3.62348408e-01 -8.44767872e-05  9.12518264e-07  1.43071882e+00] 24\n",
      "[-0.23342579 -0.09214762  0.49214463  3.11993541 -0.05073672  1.88938202\n",
      "  0.07999957 -0.80926534  0.88445182  2.16265132 -2.6319727  -0.77572596\n",
      "  1.96998363  0.79231386  1.        ] 15\n",
      "[-0.23579111 -0.08984253  0.48637977  3.1164578  -0.04001448  1.88727312\n",
      "  1.        ]\n",
      "episode_0554088.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555083.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  6.95152507e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04227507e-02 -8.73436151e-02\n",
      "  4.59990010e-01 -8.95961927e-12  5.12446112e-12 -2.92824313e+00\n",
      "  2.04499343e-01 -6.05524905e-02  4.59989575e-01  0.00000000e+00\n",
      " -1.57079633e+00  3.74553439e+00  3.28673603e-02  8.09852316e-02\n",
      "  4.60987877e-01  2.85451577e-04 -9.11875012e-07  1.80018631e+00] 24\n",
      "[ 2.94059942e-01  3.09428176e-02  5.53028307e-01  3.03961750e+00\n",
      " -1.70222953e-01  1.54204250e+00  4.73877523e-06  1.07600979e-01\n",
      "  1.17771483e+00  1.44857787e+00 -8.57792294e-01 -1.18836877e+00\n",
      "  1.60366722e+00  2.24632685e-01 -1.00000000e+00] 15\n",
      "[ 0.29348289  0.03375135  0.55884922  3.03302834 -0.17793433  1.54821369\n",
      " -1.        ]\n",
      "episode_0555083.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553688.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  6.58831531e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45232275e-01 -7.17804093e-02\n",
      "  4.59990010e-01 -8.39666616e-10  6.02196029e-10  1.83724642e+00\n",
      " -4.69306027e-03  1.04629303e-01  4.60893107e-01 -9.46654828e-04\n",
      "  9.31520479e-03  2.08565636e+00  2.54335101e-02 -1.03039058e-01\n",
      "  4.59990010e-01  2.75503960e-10 -2.14214530e-11  1.46114331e+00] 24\n",
      "[ 2.83218339e-01  2.89656637e-02  5.25750961e-01  3.04207801e+00\n",
      " -1.12604294e-01  1.50149366e+00  6.63819344e-06  8.96378939e-02\n",
      "  1.16318073e+00  1.39005089e+00 -9.39972691e-01 -1.17262981e+00\n",
      "  1.61723371e+00  3.03084994e-01 -1.00000000e+00] 15\n",
      "[ 0.28435829  0.03188454  0.52995874  3.0404461  -0.12073952  1.50135759\n",
      " -1.        ]\n",
      "episode_0553688.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554155.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16599156e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  3.09319816e-02  6.55144918e-02\n",
      "  4.60989716e-01  5.39500856e-06 -3.79843241e-06  1.52039654e+00\n",
      "  2.51940253e-01 -3.07645389e-01  3.62348427e-01  8.70969109e-05\n",
      " -7.22441925e-05  1.31015738e+00  1.48275841e-01 -2.99575833e-01\n",
      "  3.62347991e-01 -1.32455208e-04  8.41929943e-08  1.43071721e+00] 24\n",
      "[ 0.06934147 -0.14467233  0.56220469 -3.1305575  -0.184929    1.52444767\n",
      "  0.08000138 -0.96582516  1.01203124  1.91066988 -2.16281748 -0.8716817\n",
      "  1.80812821  0.52656341  1.        ] 15\n",
      "[ 0.07614407 -0.16445587  0.56091258 -3.12489655 -0.17403616  1.52083746\n",
      "  1.        ]\n",
      "episode_0554155.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554757.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.02325608e-01  1.25297007e-19 -3.53307163e-17\n",
      "  0.00000000e+00  0.00000000e+00  3.74363776e-02 -1.01201075e-01\n",
      "  4.59990008e-01  4.45259983e-08 -2.12252633e-08  1.68554312e+00\n",
      "  2.51729030e-01 -2.96147922e-01  3.62347324e-01 -6.05200366e-06\n",
      " -6.98560080e-05  1.31423519e+00  1.47938376e-01 -2.86632446e-01\n",
      "  3.62345228e-01  2.02324118e-04  2.08072592e-05  1.43028540e+00] 24\n",
      "[ 1.71829880e-01 -4.24436481e-01  3.98208115e-01  3.01530739e+00\n",
      " -4.18682335e-02  1.46721606e+00 -2.62897101e-07 -1.44348760e+00\n",
      "  1.17377550e+00  1.62060521e+00 -2.33450796e+00 -1.32951547e+00\n",
      "  1.91210145e+00  2.07606541e-01 -1.00000000e+00] 15\n",
      "[ 0.17180585 -0.42665156  0.40543147  3.02528068 -0.04074915  1.45811206\n",
      " -1.        ]\n",
      "episode_0554757.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554938.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12374967e-01  1.25297007e-19  2.08743243e-17\n",
      "  0.00000000e+00  0.00000000e+00  8.53724233e-02 -8.47377150e-02\n",
      "  4.59988163e-01  3.32298086e-04  1.35369100e-04 -3.04751187e+00\n",
      "  2.51713055e-01 -3.06556046e-01  3.62346373e-01  2.12323810e-04\n",
      " -6.22890792e-06  1.31426356e+00  3.28589373e-02  8.10059524e-02\n",
      "  4.60987877e-01  2.85450893e-04 -9.18482421e-07  1.79956611e+00] 24\n",
      "[ 0.13563966 -0.19756256  0.53164706 -3.0074159  -0.02862107  1.88580402\n",
      "  0.07999997 -0.79503905  1.02759902  1.73408705 -1.88048904 -0.89136905\n",
      "  1.52402661  0.0299312   1.        ] 15\n",
      "[ 0.14204635 -0.20742282  0.52782193 -3.01306133 -0.00967196  1.81801467\n",
      "  1.        ]\n",
      "episode_0554938.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555186.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04261005e-02 -8.73480501e-02\n",
      "  4.59990010e-01 -2.03969902e-11  1.15016621e-11 -2.92827924e+00\n",
      "  1.97849435e-01 -2.91774930e-01  3.95892766e-01  1.69833151e+00\n",
      " -1.46236765e+00  1.57534784e+00  3.28617667e-02  8.09704619e-02\n",
      "  4.60988554e-01  9.39720697e-05 -3.57781149e-06  1.80028838e+00] 24\n",
      "[ 0.19742129 -0.28230967  0.39387499  3.0144499   0.13766974  1.52182881\n",
      "  0.0425084  -0.91761829  1.12799931  1.53964289 -2.09738228 -1.36816697\n",
      "  1.73250881  0.41694292 -1.        ] 15\n",
      "[ 0.19975584 -0.28269447  0.39004555  3.00971908  0.14252602  1.50873254\n",
      "  1.        ]\n",
      "episode_0555186.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553825.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  8.80022471e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45232599e-01 -7.17802014e-02\n",
      "  4.59989259e-01 -7.83468347e-06  4.79372147e-06  1.83723457e+00\n",
      "  2.29550702e-01 -6.97479553e-02  4.59989692e-01 -3.37023089e-05\n",
      " -1.08921138e-05  1.66629479e+00  2.54336244e-02 -1.03039146e-01\n",
      "  4.59989753e-01  1.02444310e-05 -7.34583970e-07  1.46113887e+00] 24\n",
      "[ 0.17841678 -0.24285476  0.47849594  3.04109361 -0.11284281  1.46439943\n",
      "  0.08000044 -1.02145181  1.17147049  1.72971836 -2.12920635 -1.20902065\n",
      "  1.79270818  0.45752137  1.        ] 15\n",
      "[ 0.17594119 -0.24221516  0.46903662  3.03217583 -0.1063887   1.47501535\n",
      "  1.        ]\n",
      "episode_0553825.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554944.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12377615e-01  1.25297007e-19  2.15971257e-17\n",
      "  0.00000000e+00  0.00000000e+00  8.53759806e-02 -8.47438273e-02\n",
      "  4.59988805e-01  1.17505223e-04  7.06025788e-06 -3.04751167e+00\n",
      "  2.51712764e-01 -3.06557110e-01  3.62346373e-01  2.12324339e-04\n",
      " -6.22892904e-06  1.31427040e+00  3.28592832e-02  8.10050963e-02\n",
      "  4.60987877e-01  2.85450921e-04 -9.18210417e-07  1.79959169e+00] 24\n",
      "[ 0.17449772 -0.25381856  0.5095527  -3.10964119  0.02390604  1.63836667\n",
      "  0.07999986 -0.93237048  1.01106269  1.70935004 -1.95788277 -0.99057963\n",
      "  1.62546177  0.18779709  1.        ] 15\n",
      "[ 0.18169426 -0.26089292  0.50538313 -3.12508156  0.02853196  1.60898119\n",
      "  1.        ]\n",
      "episode_0554944.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554900.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12363846e-01  1.25297007e-19  1.62194830e-17\n",
      "  0.00000000e+00  0.00000000e+00  6.68358975e-02 -8.23504673e-02\n",
      "  4.98673154e-01 -7.08245749e-02  8.85326076e-03  2.44811993e+00\n",
      "  2.51712031e-01 -3.06552248e-01  3.62349290e-01  4.49957498e-05\n",
      " -6.86817834e-06  1.31417271e+00  3.28567631e-02  8.10113430e-02\n",
      "  4.60987877e-01  2.85450718e-04 -9.20193194e-07  1.79940517e+00] 24\n",
      "[ 0.06192462 -0.0801562   0.51504262  3.0600888  -0.04578222  2.4093688\n",
      "  0.04027513 -0.64548508  1.14042534  1.79456428 -2.06005511 -1.09955928\n",
      "  1.68220673 -0.16617899 -1.        ] 15\n",
      "[ 0.06185263 -0.07977178  0.5142312   3.05776452 -0.04523985  2.4722448\n",
      " -1.        ]\n",
      "episode_0554900.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554272.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  1.74057784e-07  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  3.09245854e-02  6.55203054e-02\n",
      "  4.60976070e-01 -5.41407176e-05 -5.49272452e-04  1.52079957e+00\n",
      "  2.51751155e-01 -1.00275794e-01  3.62349997e-01 -8.42229846e-09\n",
      "  1.21133393e-07  1.31324481e+00  1.48040654e-01 -9.08197396e-02\n",
      "  3.62349999e-01 -1.09539542e-09  4.28308834e-10  1.42848714e+00] 24\n",
      "[-1.19777671e-01 -1.22647679e-01  5.02779368e-01  3.09750529e+00\n",
      " -1.77175633e-01  1.77186895e+00  8.48794115e-05 -9.99058170e-01\n",
      "  1.11482557e+00  2.06206671e+00 -2.62172007e+00 -9.63894360e-01\n",
      "  1.92335559e+00  7.06884648e-01 -1.00000000e+00] 15\n",
      "[-0.12073832 -0.12073622  0.49742286  3.09013553 -0.17268752  1.77490017\n",
      " -1.        ]\n",
      "episode_0554272.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554865.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12362888e-01  1.25297007e-19  1.19115863e-17\n",
      "  0.00000000e+00  0.00000000e+00  3.74363918e-02 -1.01201041e-01\n",
      "  4.59990009e-01  5.24790882e-08 -1.15904514e-08  1.68554222e+00\n",
      "  2.51711621e-01 -3.06551972e-01  3.62349997e-01 -5.67793710e-08\n",
      " -1.44538925e-07  1.31415031e+00  3.28547424e-02  8.10163674e-02\n",
      "  4.60987877e-01  2.85417938e-04 -9.21255797e-07  1.79925531e+00] 24\n",
      "[ 0.00681347 -0.11632945  0.53505145 -3.0675687  -0.11126024  1.71893434\n",
      "  0.07999625 -0.80743966  1.11323035  1.90068986 -2.19264787 -0.91418754\n",
      "  1.68051828  0.51220271  1.        ] 15\n",
      "[ 0.00730943 -0.1175154   0.53420831 -3.08910609 -0.12042248  1.72005088\n",
      "  1.        ]\n",
      "episode_0554865.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554425.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 1.41970785e-01 -4.10338831e-10  1.38695132e-19  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.74245990e-02 -1.01562661e-01\n",
      "  4.59964814e-01  6.54512490e-06 -9.37333870e-04  1.68543902e+00\n",
      "  2.51752535e-01 -1.00275388e-01  3.62349990e-01  7.80595309e-07\n",
      " -1.19560966e-07  1.31320195e+00  1.48040731e-01 -9.08196186e-02\n",
      "  3.62349999e-01 -1.19109733e-08  1.03954463e-08  1.42848681e+00] 24\n",
      "[-0.10681181 -0.00644782  0.51722028  3.04367688 -0.02211569  1.25944504\n",
      "  0.04660846 -0.64554829  0.43328455  1.87599642 -2.22189631 -0.57737362\n",
      "  2.0345474   1.05981792 -1.        ] 15\n",
      "[-0.10104072 -0.00551706  0.51632521  3.04115975 -0.02241979  1.253914\n",
      " -1.        ]\n",
      "episode_0554425.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554109.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16597877e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00 -1.38481534e-01 -8.86377450e-02\n",
      "  5.51710866e-01  3.14148707e-02 -1.55896554e-01  1.78273898e+00\n",
      "  2.51938876e-01 -3.07642034e-01  3.62349999e-01  4.74919831e-09\n",
      " -2.19880565e-08  1.31016347e+00  1.48278270e-01 -2.99576649e-01\n",
      "  3.62349999e-01 -1.14048742e-11 -6.48129181e-12  1.43071879e+00] 24\n",
      "[-0.13620041 -0.10150548  0.55904284  3.13995275 -0.16848458  1.84877626\n",
      "  0.04064498 -0.9394886   1.03388744  2.16320241 -2.48494504 -0.77177323\n",
      "  1.8502629   0.59957963 -1.        ] 15\n",
      "[-0.12177003 -0.09606058  0.56283161  3.12449114 -0.17702132  1.83098185\n",
      " -1.        ]\n",
      "episode_0554109.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555169.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04260753e-02 -8.73481507e-02\n",
      "  4.59989983e-01 -4.64948840e-06  2.29985825e-06 -2.92827924e+00\n",
      "  1.91567201e-01 -2.80260156e-01  4.51034522e-01  2.22813755e+00\n",
      " -1.43399460e+00  1.15795110e+00  3.28635830e-02  8.09728201e-02\n",
      "  4.60988554e-01  9.39723157e-05 -3.57770710e-06  1.80033312e+00] 24\n",
      "[ 0.18967962 -0.27066528  0.44916004  3.08251584  0.15461733  1.63983642\n",
      "  0.04248728 -0.89523023  1.1049195   1.64270479 -2.02845564 -1.24872176\n",
      "  1.60665773  0.27056654 -1.        ] 15\n",
      "[ 0.18864805 -0.27512574  0.44512749  3.08099407  0.1601803   1.63728689\n",
      " -1.        ]\n",
      "episode_0555169.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553889.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16683424e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45240997e-01 -7.17815722e-02\n",
      "  4.59981655e-01 -4.69078023e-04 -2.05800576e-05  1.83721963e+00\n",
      "  2.29556726e-01 -6.97435016e-02  4.59988820e-01 -1.17276811e-05\n",
      "  7.69408477e-05  1.66629459e+00  2.54351256e-02 -1.03040412e-01\n",
      "  4.59988646e-01  1.11094752e-04 -3.95506106e-06  1.46116336e+00] 24\n",
      "[ 0.09215467 -0.28060498  0.54293145 -3.09961745 -0.21234858  1.44349811\n",
      "  0.07999715 -1.31192646  1.16934997  1.95929526 -2.29845031 -0.89970777\n",
      "  1.7516819   0.39292032  1.        ] 15\n",
      "[ 0.08495198 -0.26740495  0.54544979 -3.07557509 -0.21091533  1.44490932\n",
      "  1.        ]\n",
      "episode_0553889.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553767.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  8.80261594e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45232275e-01 -7.17804092e-02\n",
      "  4.59990010e-01 -8.31732158e-10  5.61896679e-10  1.83724642e+00\n",
      "  1.01502819e-01 -3.25377788e-02  5.07198015e-01  1.84030261e-02\n",
      "  7.11431152e-03  1.96797846e+00  2.54335101e-02 -1.03039058e-01\n",
      "  4.59990010e-01  2.67416112e-10 -1.13962939e-11  1.46114331e+00] 24\n",
      "[ 0.10407398 -0.03940521  0.51772902  3.12789449 -0.15009035  1.76863611\n",
      "  0.04202636 -0.50380252  1.15343839  1.71061181 -1.85931224 -1.08879814\n",
      "  1.70801815  0.40255158 -1.        ] 15\n",
      "[ 0.1111918  -0.04372735  0.51651764  3.1255175  -0.14579576  1.75846839\n",
      " -1.        ]\n",
      "episode_0553767.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554606.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.48543264e-02  5.78267504e-13  2.77030432e-05 -7.50711294e-05\n",
      "  0.00000000e+00  0.00000000e+00  3.74223222e-02 -1.01544055e-01\n",
      "  4.59990010e-01 -6.41945717e-11 -2.28190817e-11  1.68543845e+00\n",
      "  2.51752534e-01 -1.00275374e-01  3.62349999e-01  2.21937626e-12\n",
      " -1.13280510e-13  1.31319892e+00  1.48040739e-01 -9.08196359e-02\n",
      "  3.62349999e-01 -3.62753307e-13 -6.08763545e-14  1.42848667e+00] 24\n",
      "[-0.09727339 -0.13031725  0.54334884  3.10387572 -0.11199967  1.76261758\n",
      "  0.07082117 -0.93566456  1.14946371  2.11800613 -2.48811034 -0.9203347\n",
      "  1.72291307  0.6878051   1.        ] 15\n",
      "[-0.09445659 -0.1302047   0.5511006   3.11101977 -0.12626185  1.75111688\n",
      "  1.        ]\n",
      "episode_0554606.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555114.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04240642e-02 -8.73455555e-02\n",
      "  4.59989970e-01 -7.02375200e-06  3.47436788e-06 -2.92825767e+00\n",
      "  2.04495992e-01 -6.05548470e-02  4.59989789e-01  0.00000000e+00\n",
      " -1.57079633e+00  3.74552953e+00  3.28691563e-02  8.09808466e-02\n",
      "  4.60987877e-01  2.85451723e-04 -9.10470311e-07  1.80031788e+00] 24\n",
      "[ 0.21642487 -0.07572238  0.5336935   3.11505181 -0.05246465  1.65597652\n",
      "  0.07999708 -0.37737907  1.13068752  1.62307751 -1.50693765 -1.1323379\n",
      "  1.55505231  0.28795015  1.        ] 15\n",
      "[ 0.21481711 -0.07745852  0.53134161  3.11830793 -0.04814704  1.65475597\n",
      "  1.        ]\n",
      "episode_0555114.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555128.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04241024e-02 -8.73454035e-02\n",
      "  4.59990010e-01 -2.29235712e-10  1.14920991e-10 -2.92825767e+00\n",
      "  2.04496311e-01 -6.05550523e-02  4.59989730e-01  0.00000000e+00\n",
      " -1.57079633e+00  3.74552584e+00  3.28700007e-02  8.09787889e-02\n",
      "  4.60987877e-01  2.85451792e-04 -9.09810358e-07  1.80037965e+00] 24\n",
      "[ 0.21169552 -0.06909799  0.50673851  3.04659459 -0.04052501  1.70197306\n",
      "  0.07999848 -0.40694099  1.14036791  1.60040327 -1.61301127 -1.20534348\n",
      "  1.64142305  0.3017185   1.        ] 15\n",
      "[ 0.21180628 -0.06567348  0.50096403  3.04016378 -0.03111803  1.70961552\n",
      "  1.        ]\n",
      "episode_0555128.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554465.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.48543264e-02 -1.94178118e-12  1.38695132e-19  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.74223217e-02 -1.01544056e-01\n",
      "  4.59990010e-01  8.58855393e-10 -5.03769664e-10  1.68543846e+00\n",
      "  2.51752527e-01 -1.00275379e-01  3.62349999e-01 -6.06050036e-08\n",
      "  1.25362795e-08  1.31319937e+00  1.48040735e-01 -9.08196311e-02\n",
      "  3.62349999e-01 -4.62442582e-09  3.62908740e-09  1.42848674e+00] 24\n",
      "[-0.00489371 -0.13145693  0.57147692  3.09655792 -0.19520191  1.38865072\n",
      "  0.07981288 -1.12248257  0.89797718  2.09517382 -2.36304623 -0.79726971\n",
      "  1.93479619  0.76605727  1.        ] 15\n",
      "[ 1.51766980e-03 -1.36289741e-01  5.70239984e-01  3.10245442e+00\n",
      " -1.76981644e-01  1.38749178e+00  1.00000000e+00]\n",
      "episode_0554465.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553887.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16683424e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45228305e-01 -7.17829415e-02\n",
      "  4.59977073e-01  1.19212097e-04 -2.33528737e-04  1.83722419e+00\n",
      "  2.29556029e-01 -6.97435675e-02  4.59988820e-01 -1.17276787e-05\n",
      "  7.69281969e-05  1.66629572e+00  2.54359091e-02 -1.03040649e-01\n",
      "  4.59987534e-01  1.42037188e-04 -2.01911946e-05  1.46115559e+00] 24\n",
      "[ 0.10174434 -0.30385794  0.53684033 -3.13071588 -0.20062279  1.44424172\n",
      "  0.07999716 -1.35996844  1.18060179  1.95415614 -2.31228539 -0.93724536\n",
      "  1.75104173  0.36006204  1.        ] 15\n",
      "[ 0.09825168 -0.2941183   0.53934487 -3.11442727 -0.20556243  1.44109269\n",
      "  1.        ]\n",
      "episode_0553887.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554756.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  1.97400587e-01  1.25297007e-19 -3.53307163e-17\n",
      "  0.00000000e+00  0.00000000e+00  3.74363772e-02 -1.01201075e-01\n",
      "  4.59990008e-01  3.10552349e-08 -2.24682627e-08  1.68554310e+00\n",
      "  2.51728508e-01 -2.91224381e-01  3.62344335e-01 -1.25948061e-05\n",
      " -1.47983784e-04  1.31423516e+00  1.47943024e-01 -2.81707605e-01\n",
      "  3.62340006e-01  4.32822892e-04  4.28814060e-05  1.43028583e+00] 24\n",
      "[ 1.72143543e-01 -4.19466021e-01  3.87675641e-01  3.00606184e+00\n",
      " -4.04739489e-02  1.47718337e+00 -2.15093720e-07 -1.42982816e+00\n",
      "  1.17687571e+00  1.59519634e+00 -2.34236486e+00 -1.36032963e+00\n",
      "  1.93361193e+00  2.18481544e-01 -1.00000000e+00] 15\n",
      "[ 0.17182988 -0.42443648  0.39820811  3.01530739 -0.04186823  1.46721606\n",
      " -1.        ]\n",
      "episode_0554756.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553586.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  2.32163825e-17\n",
      "  0.00000000e+00  0.00000000e+00 -2.45232262e-01 -7.17804386e-02\n",
      "  4.59990005e-01 -3.09047537e-07 -1.50216012e-07  1.83724821e+00\n",
      " -4.57917464e-03  1.04477298e-01  4.60990053e-01 -1.23070972e-06\n",
      " -3.18724466e-06  2.08586747e+00  6.86276198e-02  8.52458669e-02\n",
      "  4.60989983e-01  4.10380209e-08 -3.67361156e-06  1.55915493e+00] 24\n",
      "[ 0.04785053 -0.01875435  0.54568744  3.01103849 -0.12226005  1.47923704\n",
      "  0.07999898 -0.54485463  0.8606226   1.72791528 -2.00424383 -0.99598397\n",
      "  1.86085776  0.80032943  1.        ] 15\n",
      "[ 0.05239243 -0.01174808  0.54278675  3.00702604 -0.13187308  1.47620433\n",
      "  1.        ]\n",
      "episode_0553586.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555041.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  3.35667177e-17\n",
      "  0.00000000e+00  0.00000000e+00  9.04229788e-02 -8.73443061e-02\n",
      "  4.59989742e-01 -3.00942988e-05 -3.49522710e-06 -2.92824455e+00\n",
      "  2.04498844e-01 -6.05490848e-02  4.59984096e-01  0.00000000e+00\n",
      " -1.57079633e+00  3.74569016e+00  3.28649121e-02  8.09912274e-02\n",
      "  4.60987877e-01  2.85451377e-04 -9.13792094e-07  1.80000659e+00] 24\n",
      "[ 0.1884447  -0.13120636  0.54671755  3.07009305 -0.09815676  1.48552543\n",
      "  0.07605424 -0.67368155  0.99958083  1.67920681 -1.80798488 -1.02805453\n",
      "  1.72468888  0.46213638  1.        ] 15\n",
      "[ 0.1914628  -0.13676584  0.5439296   3.07802509 -0.08771749  1.47188817\n",
      "  1.        ]\n",
      "episode_0555041.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554786.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.13322925e-01  1.25297007e-19  2.19713486e-18\n",
      "  0.00000000e+00  0.00000000e+00  3.74363877e-02 -1.01201063e-01\n",
      "  4.59990008e-01  9.06261509e-09 -1.62861352e-08  1.68554332e+00\n",
      "  2.51720495e-01 -3.07149215e-01  3.62349918e-01 -5.74607693e-08\n",
      "  4.06321163e-06  1.31440225e+00  1.47924955e-01 -2.97647522e-01\n",
      "  3.62330006e-01 -7.00774851e-04 -8.53730593e-04  1.43043430e+00] 24\n",
      "[ 0.15277049 -0.30863725  0.39681382  3.10692568  0.03933631  1.47239256\n",
      "  0.0799986  -1.1069843   1.07905141  1.58260989 -2.23938965 -1.2166577\n",
      "  1.83570271  0.4015952   1.        ] 15\n",
      "[ 0.15221555 -0.30713156  0.38869888  3.09820951  0.05075457  1.47506402\n",
      "  1.        ]\n",
      "episode_0554786.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553886.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16683424e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45213847e-01 -7.17784915e-02\n",
      "  4.59963927e-01  8.94903603e-04 -1.91991381e-04  1.83722927e+00\n",
      "  2.29555659e-01 -6.97436027e-02  4.59988820e-01 -1.17276756e-05\n",
      "  7.69095506e-05  1.66629631e+00  2.54332848e-02 -1.03039941e-01\n",
      "  4.59989747e-01  4.60196120e-06  1.99148910e-06  1.46115597e+00] 24\n",
      "[ 0.10509323 -0.31414639  0.53452772  3.13135176 -0.19655661  1.4471155\n",
      "  0.07999713 -1.38581794  1.18740764  1.95575901 -2.32596369 -0.9595653\n",
      "  1.7563622   0.34710843  1.        ] 15\n",
      "[ 0.10174434 -0.30385794  0.53684033 -3.13071588 -0.20062279  1.44424172\n",
      "  1.        ]\n",
      "episode_0553886.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553810.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  8.80043888e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45232558e-01 -7.17804856e-02\n",
      "  4.59989770e-01 -1.62070683e-05 -5.76282890e-06  1.83724148e+00\n",
      "  2.29549288e-01 -6.97473623e-02  4.59989692e-01 -3.37202087e-05\n",
      " -1.08975777e-05  1.66621657e+00  2.54336072e-02 -1.03039055e-01\n",
      "  4.59989773e-01  8.12471416e-06 -5.20236454e-07  1.46114361e+00] 24\n",
      "[ 0.19242685 -0.16842443  0.54250339  3.07834597 -0.15314781  1.46455558\n",
      "  0.07999987 -0.79553401  1.12713942  1.76217091 -1.89148325 -1.10356581\n",
      "  1.70764349  0.47308996  1.        ] 15\n",
      "[ 0.19257183 -0.17405722  0.54006575  3.0852122  -0.14594839  1.45667291\n",
      "  1.        ]\n",
      "episode_0553810.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555081.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  5.89154483e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04227507e-02 -8.73436151e-02\n",
      "  4.59990010e-01 -8.95997882e-12  5.12500780e-12 -2.92824313e+00\n",
      "  2.04498878e-01 -6.05533356e-02  4.59990010e-01  0.00000000e+00\n",
      " -1.57079633e+00  3.74551411e+00  3.28672439e-02  8.09855162e-02\n",
      "  4.60987877e-01  2.85451567e-04 -9.11966107e-07  1.80017777e+00] 24\n",
      "[ 2.95639078e-01  2.54215476e-02  5.41206544e-01  3.04670723e+00\n",
      " -1.54530803e-01  1.53012763e+00  2.70141161e-07  9.52786159e-02\n",
      "  1.18422719e+00  1.43746704e+00 -8.76228009e-01 -1.18831103e+00\n",
      "  1.60528398e+00  2.36441290e-01 -1.00000000e+00] 15\n",
      "[ 0.294415    0.02837177  0.54786438  3.04513791 -0.16302398  1.53525255\n",
      " -1.        ]\n",
      "episode_0555081.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553647.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  3.06756935e-17\n",
      "  0.00000000e+00  0.00000000e+00 -2.45232572e-01 -7.17806902e-02\n",
      "  4.59989734e-01 -1.78276954e-05 -7.96656866e-06  1.83724787e+00\n",
      " -4.57917403e-03  1.04477298e-01  4.60990052e-01 -1.24825682e-06\n",
      " -3.19823356e-06  2.08586739e+00  2.54340940e-02 -1.03038044e-01\n",
      "  4.59989947e-01  5.48317476e-06 -1.75114165e-07  1.46114640e+00] 24\n",
      "[ 0.03519997 -0.11443451  0.56041548  3.02448633 -0.11541835  1.39714487\n",
      "  0.07999797 -0.8828251   0.96148692  1.95870824 -2.21871791 -0.99091764\n",
      "  1.78040101  0.83820976  1.        ] 15\n",
      "[ 0.03910698 -0.11165128  0.56503074  3.02455376 -0.12371171  1.38545732\n",
      "  1.        ]\n",
      "episode_0553647.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554020.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16622434e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45236907e-01 -7.17789638e-02\n",
      "  4.59989588e-01 -4.02142456e-05 -1.26900080e-05  1.83736640e+00\n",
      "  2.21728155e-01 -2.52673550e-01  4.63443816e-01  1.22525571e-02\n",
      " -4.77382033e-03  1.43054760e+00  1.48268729e-01 -2.99619559e-01\n",
      "  3.62349540e-01  2.41942984e-05  2.28012920e-12  1.43075650e+00] 24\n",
      "[ 0.22008376 -0.26161359  0.46906011  3.06502964  0.02738048  1.50395112\n",
      "  0.04147939 -0.89624686  1.05378011  1.61181922 -1.94889673 -1.15557279\n",
      "  1.73081351  0.31844072 -1.        ] 15\n",
      "[ 0.22161896 -0.26746463  0.46213683  3.0523105   0.04001851  1.50244654\n",
      " -1.        ]\n",
      "episode_0554020.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553878.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16683424e-01  0.00000000e+00  8.80000068e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45236055e-01 -7.17829010e-02\n",
      "  4.59985317e-01 -2.21555339e-04 -8.78281658e-05  1.83723525e+00\n",
      "  2.29552888e-01 -6.97440689e-02  4.59989015e-01 -1.17260656e-05\n",
      "  6.66908714e-05  1.66630082e+00  2.54344754e-02 -1.03039220e-01\n",
      "  4.59989433e-01  5.37737799e-05  5.46150622e-06  1.46114306e+00] 24\n",
      "[ 0.13135075 -0.38898672  0.49805959  3.07483179 -0.16414763  1.41172676\n",
      "  0.07995741 -1.52109377  1.22507523  1.88465165 -2.36151677 -1.0838828\n",
      "  1.78317197  0.26186911  1.        ] 15\n",
      "[ 0.12673081 -0.3823574   0.50524635  3.07959559 -0.16852613  1.42249731\n",
      "  1.        ]\n",
      "episode_0553878.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555176.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04261004e-02 -8.73480507e-02\n",
      "  4.59990009e-01 -2.67571352e-08  1.28256636e-08 -2.92827924e+00\n",
      "  1.87966844e-01 -2.94518404e-01  4.40765884e-01  2.15411831e+00\n",
      " -1.44342637e+00  1.21614920e+00  3.28628294e-02  8.09718416e-02\n",
      "  4.60988554e-01  9.39722136e-05 -3.57775041e-06  1.80031456e+00] 24\n",
      "[ 0.18660219 -0.28528056  0.43864223  3.06507702  0.14960002  1.61789832\n",
      "  0.04268427 -0.94885617  1.10977204  1.63957313 -2.08031994 -1.27251714\n",
      "  1.6407712   0.28983296 -1.        ] 15\n",
      "[ 0.18714659 -0.28538068  0.43745567  3.05687429  0.14348585  1.61174732\n",
      " -1.        ]\n",
      "episode_0555176.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554815.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12361657e-01  1.25297007e-19  5.75331799e-18\n",
      "  0.00000000e+00  0.00000000e+00  3.74363838e-02 -1.01201072e-01\n",
      "  4.59990006e-01  6.44565429e-07 -4.80234096e-08  1.68554235e+00\n",
      "  2.51678433e-01 -3.06629292e-01  3.62274790e-01 -6.56967396e-04\n",
      " -4.21458793e-03  1.31419072e+00  1.31429442e-01 -1.45373803e-01\n",
      "  5.48618546e-01  2.78474171e-02 -2.47187049e-01  1.59088383e+00] 24\n",
      "[ 0.13185079 -0.15003896  0.54360428 -3.14084092 -0.13083796  1.61947512\n",
      "  0.04037335 -0.81707841  1.0451843   1.7825541  -1.97802963 -0.95477159\n",
      "  1.72288364  0.36876795 -1.        ] 15\n",
      "[ 0.12759482 -0.13491241  0.5465756  -3.13552613 -0.1383263   1.62939011\n",
      " -1.        ]\n",
      "episode_0554815.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554992.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  2.75530097e-17\n",
      "  0.00000000e+00  0.00000000e+00  8.53807692e-02 -8.47613821e-02\n",
      "  4.59989945e-01  4.57435243e-06  8.32969867e-07 -3.04750879e+00\n",
      "  9.66193219e-02 -9.43649508e-02  5.30159469e-01  3.84380008e-02\n",
      " -2.00363473e-01  1.69203371e+00  3.28620829e-02  8.09981839e-02\n",
      "  4.60987877e-01  2.85451147e-04 -9.16011058e-07  1.79979834e+00] 24\n",
      "[ 0.09793773 -0.1028682   0.53041953  3.09969425 -0.05209893  1.68450229\n",
      "  0.0409426  -0.68730024  0.99922098  1.75283106 -1.99199375 -1.00105674\n",
      "  1.71551215  0.43712783 -1.        ] 15\n",
      "[ 0.09475787 -0.09879798  0.52629321  3.0974485  -0.04291435  1.69092833\n",
      " -1.        ]\n",
      "episode_0554992.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554518.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.48543264e-02  2.36981696e-13  1.38695132e-19  8.79545476e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.74223222e-02 -1.01544055e-01\n",
      "  4.59990010e-01 -6.41937291e-11 -2.28192958e-11  1.68543845e+00\n",
      "  2.51752534e-01 -1.00275374e-01  3.62349999e-01  2.70153579e-12\n",
      " -1.31453001e-13  1.31319892e+00  1.48040739e-01 -9.08196359e-02\n",
      "  3.62349999e-01 -3.52534870e-13 -1.27010887e-14  1.42848667e+00] 24\n",
      "[ 2.64815917e-01  6.42259578e-02  6.39853393e-01  3.11916912e+00\n",
      " -3.24752279e-01  1.50895696e+00  1.45311314e-04  2.43430387e-01\n",
      "  1.09382462e+00  1.41238015e+00 -6.27935508e-01 -9.92475149e-01\n",
      "  1.55702560e+00  2.01177009e-01 -1.00000000e+00] 15\n",
      "[ 0.26233488  0.06333751  0.63216547  3.13274128 -0.30504463  1.50087414\n",
      " -1.        ]\n",
      "episode_0554518.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554889.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12362890e-01  1.25297007e-19  1.48606162e-17\n",
      "  0.00000000e+00  0.00000000e+00  4.61016932e-02 -9.37073871e-02\n",
      "  4.93017307e-01 -5.32194685e-02 -3.51940289e-02  1.92670598e+00\n",
      "  2.51711620e-01 -3.06551974e-01  3.62349998e-01 -1.11929437e-07\n",
      " -1.33967068e-07  1.31415029e+00  3.28561208e-02  8.10129391e-02\n",
      "  4.60987877e-01  2.85450666e-04 -9.20699084e-07  1.79935755e+00] 24\n",
      "[ 0.04332034 -0.0899281   0.50933852  3.07986526 -0.09013693  1.88782897\n",
      "  0.04027897 -0.72635662  1.08319413  1.80505426 -2.15688887 -1.06098131\n",
      "  1.7673906   0.36515242 -1.        ] 15\n",
      "[ 0.04560647 -0.08998486  0.51238803  3.07674826 -0.09094678  1.93529876\n",
      " -1.        ]\n",
      "episode_0554889.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554921.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12367542e-01  1.25297007e-19  1.87926561e-17\n",
      "  0.00000000e+00  0.00000000e+00  8.55142921e-02 -8.47172729e-02\n",
      "  4.59417824e-01  6.77285743e-04 -6.98492966e-03 -3.04751718e+00\n",
      "  2.51712856e-01 -3.06552797e-01  3.62347369e-01  1.59929863e-04\n",
      " -6.22309338e-06  1.31424437e+00  3.28579680e-02  8.10083533e-02\n",
      "  4.60987877e-01  2.85450815e-04 -9.19244808e-07  1.79949441e+00] 24\n",
      "[ 0.0773858  -0.09056361  0.49154348  3.04816647  0.02981319  3.08928155\n",
      "  0.07877131 -0.64998854  1.23745389  1.77985992 -2.07347302 -1.20315713\n",
      "  1.65051665 -0.84060076  1.        ] 15\n",
      "[ 0.07730828 -0.09231876  0.49775346  3.05978358  0.00745157  3.0452007\n",
      "  1.        ]\n",
      "episode_0554921.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555163.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04254041e-02 -8.73501141e-02\n",
      "  4.59989581e-01 -1.16136017e-04  4.53986985e-05 -2.92827599e+00\n",
      "  2.02546701e-01 -2.45936504e-01  4.75277972e-01  2.54455466e+00\n",
      " -1.46938064e+00  8.34837473e-01  3.28642130e-02  8.09736381e-02\n",
      "  4.60988554e-01  9.39723970e-05 -3.57767088e-06  1.80034864e+00] 24\n",
      "[ 0.20053538 -0.23606379  0.47374713  3.0961171   0.10822436  1.63993349\n",
      "  0.04215596 -0.80220043  1.10838462  1.65397635 -1.91948462 -1.20203292\n",
      "  1.58176884  0.26446959 -1.        ] 15\n",
      "[ 0.19780287 -0.24244763  0.4703995   3.09778061  0.11503161  1.64181037\n",
      " -1.        ]\n",
      "episode_0555163.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555049.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  3.45497277e-17\n",
      "  0.00000000e+00  0.00000000e+00  9.04221457e-02 -8.73438492e-02\n",
      "  4.59989065e-01 -4.99296050e-06  3.14516355e-05 -2.92824273e+00\n",
      "  2.04498875e-01 -6.05533269e-02  4.59989986e-01  0.00000000e+00\n",
      " -1.57079633e+00  3.74551455e+00  3.28653835e-02  8.09900714e-02\n",
      "  4.60987877e-01  2.85451415e-04 -9.13422809e-07  1.80004123e+00] 24\n",
      "[ 0.22635636 -0.15861694  0.5358278   3.04619037 -0.06859358  1.40694694\n",
      "  0.07999622 -0.66415035  0.99663639  1.62210503 -1.74627043 -1.06658891\n",
      "  1.71848709  0.47098732  1.        ] 15\n",
      "[ 0.23329799 -0.15820509  0.53620925  3.04009855 -0.0684564   1.40184982\n",
      "  1.        ]\n",
      "episode_0555049.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554824.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12362888e-01  1.25297007e-19  6.85197619e-18\n",
      "  0.00000000e+00  0.00000000e+00  3.74363915e-02 -1.01201042e-01\n",
      "  4.59990009e-01  7.59052270e-08 -2.58653021e-08  1.68554222e+00\n",
      "  2.51711436e-01 -3.06559266e-01  3.62342922e-01  8.35709251e-05\n",
      " -3.55241037e-04  1.31415034e+00  8.51827155e-02 -1.06793943e-02\n",
      "  5.52194419e-01  3.88942082e-03 -2.89972799e-01  1.68225643e+00] 24\n",
      "[ 0.08572482 -0.01431164  0.54767156  3.11820365 -0.17437051  1.71027343\n",
      "  0.04042423 -0.48005064  1.00629538  1.68844794 -1.84683024 -0.96358706\n",
      "  1.79361583  0.45814247 -1.        ] 15\n",
      "[ 8.06089506e-02 -2.55923132e-03  5.43136054e-01  3.12167699e+00\n",
      " -1.69004352e-01  1.71779695e+00 -1.00000000e+00]\n",
      "episode_0554824.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553983.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16621611e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45236009e-01 -7.17793513e-02\n",
      "  4.59989798e-01 -7.74636730e-05 -3.54799136e-05  1.83728599e+00\n",
      "  2.29590447e-01 -6.97416661e-02  4.59989155e-01  3.48179335e-05\n",
      "  1.01614159e-05  1.66624178e+00  1.48268338e-01 -2.99618208e-01\n",
      "  3.62349483e-01  3.47224753e-05 -3.06012286e-07  1.43075277e+00] 24\n",
      "[ 0.21851931 -0.12920451  0.54438014  3.00753882 -0.10570232  1.59923709\n",
      "  0.07999983 -0.64181459  0.98913834  1.62678677 -1.76041712 -1.06190869\n",
      "  1.78228762  0.32041807  1.        ] 15\n",
      "[ 0.22090075 -0.12045762  0.53374202  3.01915968 -0.08830813  1.60499381\n",
      "  1.        ]\n",
      "episode_0553983.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553758.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  8.80261594e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45232275e-01 -7.17804092e-02\n",
      "  4.59990010e-01 -8.31764622e-10  5.61919378e-10  1.83724642e+00\n",
      "  3.75953802e-02  3.49533724e-02  5.06334007e-01  1.76696782e-02\n",
      " -3.46784948e-02  2.04393365e+00  2.54335101e-02 -1.03039058e-01\n",
      "  4.59990010e-01  2.75281256e-10 -2.14127704e-11  1.46114331e+00] 24\n",
      "[ 0.04101229  0.0282924   0.51628618  3.13562444 -0.19095183  1.84272474\n",
      "  0.04202174 -0.36171493  1.16307815  1.70208011 -1.86156513 -1.08971537\n",
      "  1.75266085  0.46600179 -1.        ] 15\n",
      "[ 0.04759519  0.01943531  0.51847457  3.13149652 -0.19196724  1.83815261\n",
      " -1.        ]\n",
      "episode_0553758.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553856.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  8.09484311e-02  0.00000000e+00  8.80009204e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45232617e-01 -7.17803098e-02\n",
      "  4.59989845e-01 -8.86593278e-06 -3.24276306e-07  1.83723176e+00\n",
      "  2.29551511e-01 -6.97474758e-02  4.59990009e-01  3.67816158e-08\n",
      "  1.99535107e-10  1.66629859e+00  2.54334186e-02 -1.03039113e-01\n",
      "  4.59990009e-01 -9.55774121e-08  3.70696867e-09  1.46113868e+00] 24\n",
      "[ 1.79370197e-01 -2.98582473e-01  3.36180597e-01  3.00869994e+00\n",
      " -4.77926165e-02  1.45587869e+00  1.18565499e-06 -1.07455267e+00\n",
      "  1.20842901e+00  1.44830719e+00 -2.24453716e+00 -1.47121204e+00\n",
      "  1.97363066e+00  4.87845029e-01 -1.00000000e+00] 15\n",
      "[ 0.18168376 -0.31102236  0.33741006  3.0118765  -0.04612129  1.43619922\n",
      " -1.        ]\n",
      "episode_0553856.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554131.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16597879e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  2.79400780e-02  5.22134813e-02\n",
      "  4.88452635e-01 -5.05782076e-02 -8.65316583e-02  1.52058446e+00\n",
      "  2.51938877e-01 -3.07642034e-01  3.62349999e-01  7.82937369e-09\n",
      " -2.64689220e-08  1.31016354e+00  1.48278270e-01 -2.99576649e-01\n",
      "  3.62349999e-01  2.26346451e-11 -8.48830446e-12  1.43071879e+00] 24\n",
      "[ 0.02664477  0.03923194  0.4974629   3.05975243 -0.09367263  1.58447785\n",
      "  0.04064639 -0.29212065  0.79893256  1.49707053 -1.91071539 -0.91890847\n",
      "  1.95755794  0.70935255 -1.        ] 15\n",
      "[ 0.02817925  0.04344785  0.49265433  3.05722219 -0.08871071  1.57826131\n",
      " -1.        ]\n",
      "episode_0554131.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553871.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.14881651e-01  0.00000000e+00  8.80009204e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45238581e-01 -7.17852390e-02\n",
      "  4.59984450e-01 -3.61078089e-04 -1.60211839e-04  1.83723070e+00\n",
      "  2.29553904e-01 -6.97461664e-02  4.59986771e-01  1.08290676e-04\n",
      "  6.47128325e-05  1.66629071e+00  2.54333949e-02 -1.03039107e-01\n",
      "  4.59989994e-01 -1.46205298e-06  3.84039567e-08  1.46113871e+00] 24\n",
      "[ 0.16848437 -0.42265583  0.41045594  3.03724986 -0.10388534  1.34317038\n",
      "  0.05867653 -1.47394508  1.20495079  1.65305355 -2.34065637 -1.29394961\n",
      "  1.90716511  0.30951639  1.        ] 15\n",
      "[ 0.16500813 -0.42108898  0.42141028  3.03785189 -0.11003452  1.34801653\n",
      "  1.        ]\n",
      "episode_0553871.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554716.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  6.20247806e-07  1.25297007e-19 -7.16731732e-17\n",
      "  0.00000000e+00  0.00000000e+00  3.75092870e-02 -1.01183223e-01\n",
      "  4.59931745e-01  3.72432228e-03  4.68020292e-04  1.68554573e+00\n",
      "  2.51753022e-01 -1.00274752e-01  3.62349998e-01  4.29479324e-08\n",
      " -8.12867660e-08  1.31317353e+00  1.48053212e-01 -9.08164414e-02\n",
      "  3.62327384e-01  1.26105405e-03 -3.39149004e-05  1.42873262e+00] 24\n",
      "[ 0.17658483 -0.25150423  0.44865583  3.10077166 -0.0346561   1.57596648\n",
      "  0.07999933 -0.97376274  1.15171169  1.66017869 -2.09155743 -1.18299487\n",
      "  1.75261014  0.32298087  1.        ] 15\n",
      "[ 0.1759531  -0.25008994  0.44259946  3.10835215 -0.04271869  1.5683067\n",
      "  1.        ]\n",
      "episode_0554716.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554687.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  8.94113365e-13  1.25297007e-19 -7.50711294e-05\n",
      "  0.00000000e+00  0.00000000e+00  3.74223222e-02 -1.01544055e-01\n",
      "  4.59990010e-01 -6.41933716e-11 -2.28187614e-11  1.68543845e+00\n",
      "  2.51752534e-01 -1.00275374e-01  3.62349999e-01  2.20535643e-12\n",
      " -1.13839615e-13  1.31319892e+00  1.48040739e-01 -9.08196359e-02\n",
      "  3.62349999e-01 -3.63040474e-13 -6.22863517e-14  1.42848667e+00] 24\n",
      "[-0.06095103 -0.12923753  0.55849514 -3.10914901 -0.10544595  1.56273817\n",
      "  0.08       -0.92251834  1.10459651  2.07482256 -2.3658822  -0.86620168\n",
      "  1.69433217  0.77906263  1.        ] 15\n",
      "[-0.04587552 -0.1338331   0.55804054 -3.11451329 -0.09774019  1.54154166\n",
      "  1.        ]\n",
      "episode_0554687.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554307.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.56767373e-07  5.42374897e-12  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.09274480e-02  6.55362154e-02\n",
      "  4.60976126e-01  5.47067538e-05 -5.51046476e-04  1.52080602e+00\n",
      "  2.51751247e-01 -1.00275882e-01  3.62349999e-01  3.61234643e-09\n",
      "  1.08476201e-10  1.31324857e+00  1.48040654e-01 -9.08197395e-02\n",
      "  3.62349999e-01 -6.37497296e-10  4.83265460e-10  1.42848714e+00] 24\n",
      "[ 0.0196488  -0.07405029  0.54648561  3.09966482 -0.27422938  1.57053916\n",
      "  0.07999979 -0.85058981  1.02184186  1.88766838 -2.25335929 -0.96726824\n",
      "  1.97111237  0.6779614   1.        ] 15\n",
      "[ 0.02553761 -0.06489324  0.54370886  3.09974947 -0.26871677  1.55893733\n",
      "  1.        ]\n",
      "episode_0554307.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555179.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04261005e-02 -8.73480502e-02\n",
      "  4.59990010e-01 -3.06004106e-09  1.47060971e-09 -2.92827924e+00\n",
      "  1.89434400e-01 -2.95163800e-01  4.33950328e-01  2.04096276e+00\n",
      " -1.45524899e+00  1.31052839e+00  3.28625081e-02  8.09714245e-02\n",
      "  4.60988554e-01  9.39721701e-05 -3.57776888e-06  1.80030665e+00] 24\n",
      "[ 0.18834773 -0.28586917  0.43203981  3.04688908  0.14080937  1.59767315\n",
      "  0.04271651 -0.95666264  1.11321658  1.62790877 -2.09517806 -1.29337558\n",
      "  1.66688306  0.31534533 -1.        ] 15\n",
      "[ 0.19012296 -0.28593128  0.42671065  3.04213396  0.14012984  1.58112759\n",
      " -1.        ]\n",
      "episode_0555179.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553706.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  8.80261594e-02\n",
      "  1.00000000e+00  0.00000000e+00 -2.45232275e-01 -7.17804092e-02\n",
      "  4.59990010e-01 -8.31947306e-10  5.62053193e-10  1.83724642e+00\n",
      " -4.66988226e-03  1.04639583e-01  4.60893162e-01  3.91717707e-04\n",
      "  9.14679408e-03  2.08551258e+00  2.54335101e-02 -1.03039058e-01\n",
      "  4.59990010e-01  2.75297247e-10 -2.14048443e-11  1.46114331e+00] 24\n",
      "[ 0.23900483  0.00682584  0.56622717  3.01924865 -0.08500933  1.63405122\n",
      "  0.07944237 -0.10369924  1.09269536  1.52978084 -1.22627441 -1.17306884\n",
      "  1.58063146  0.29235662  1.        ] 15\n",
      "[ 2.28226501e-01  2.27006160e-04  5.62777827e-01  3.02693057e+00\n",
      " -7.42368215e-02  1.64415808e+00  1.00000000e+00]\n",
      "episode_0553706.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554250.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  1.31659688e-07  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  3.09238814e-02  6.55079656e-02\n",
      "  4.60976135e-01 -5.41384523e-05 -5.46852740e-04  1.52078799e+00\n",
      "  2.51751372e-01 -1.00275822e-01  3.62349812e-01  1.45114506e-05\n",
      " -4.19925686e-06  1.31324849e+00  1.48040653e-01 -9.08196962e-02\n",
      "  3.62349999e-01  7.32168235e-10 -2.02626737e-10  1.42848716e+00] 24\n",
      "[ 0.03009693 -0.26019393  0.51787192  3.13644065 -0.16002773  1.55813543\n",
      "  0.07999576 -1.29997147  1.27947822  2.01103126 -2.47656405 -1.00518887\n",
      "  1.69966002  0.47125904  1.        ] 15\n",
      "[ 0.01639443 -0.25215263  0.5223219   3.13643744 -0.16816048  1.58862361\n",
      "  1.        ]\n",
      "episode_0554250.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554133.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16597879e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  3.04069052e-02  5.96261326e-02\n",
      "  4.79927504e-01 -5.80774595e-02 -7.68723311e-02  1.51296266e+00\n",
      "  2.51938877e-01 -3.07642035e-01  3.62349999e-01  7.82937304e-09\n",
      " -2.64689244e-08  1.31016354e+00  1.48278270e-01 -2.99576649e-01\n",
      "  3.62349999e-01  2.26337883e-11 -8.48824004e-12  1.43071879e+00] 24\n",
      "[ 0.02899816  0.0468434   0.48897324  3.05224894 -0.08376476  1.57698178\n",
      "  0.04064812 -0.24623297  0.80967846  1.46245661 -1.88545674 -0.93871803\n",
      "  1.952709    0.72662557 -1.        ] 15\n",
      "[ 0.02925431  0.05001661  0.48562232  3.04581038 -0.07968522  1.57879232\n",
      " -1.        ]\n",
      "episode_0554133.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554860.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12362888e-01  1.25297007e-19  1.12755211e-17\n",
      "  0.00000000e+00  0.00000000e+00  3.74363909e-02 -1.01201042e-01\n",
      "  4.59990009e-01  3.64645528e-08 -1.35529037e-08  1.68554222e+00\n",
      "  2.51711621e-01 -3.06551972e-01  3.62349997e-01 -6.38964298e-08\n",
      " -1.46857427e-07  1.31415032e+00  3.28544294e-02  8.10170854e-02\n",
      "  4.60987888e-01  2.84248829e-04 -9.04209216e-07  1.79923376e+00] 24\n",
      "[ 0.01960012 -0.09300338  0.54427783 -3.01446777 -0.10788901  1.68780696\n",
      "  0.07999634 -0.702252    1.08829836  1.85110101 -2.06431222 -0.86759607\n",
      "  1.64550773  0.51420574  1.        ] 15\n",
      "[ 0.01451458 -0.10039108  0.54223831 -3.02789873 -0.10797136  1.70462606\n",
      "  1.        ]\n",
      "episode_0554860.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0553568.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  0.00000000e+00  0.00000000e+00  2.09901541e-17\n",
      "  0.00000000e+00  0.00000000e+00 -2.45244186e-01 -7.17901499e-02\n",
      "  4.59979186e-01 -7.03476196e-04 -3.11686333e-04  1.83724830e+00\n",
      " -4.57917490e-03  1.04477298e-01  4.60990053e-01 -1.23315185e-06\n",
      " -3.19036495e-06  2.08586750e+00  6.86276191e-02  8.52458669e-02\n",
      "  4.60989983e-01  2.94047342e-08 -3.67497536e-06  1.55915491e+00] 24\n",
      "[-0.02706343 -0.07078591  0.5760694   3.07513196 -0.10462246  1.53198487\n",
      "  0.07999732 -0.76364149  0.94081706  1.99081051 -2.19489369 -0.90091838\n",
      "  1.75136259  0.80802279  1.        ] 15\n",
      "[-0.01744146 -0.07016636  0.5769424   3.06262857 -0.10975407  1.51624026\n",
      "  1.        ]\n",
      "episode_0553568.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555115.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12380514e-01  1.25297007e-19  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04240844e-02 -8.73454752e-02\n",
      "  4.59989991e-01 -3.31634701e-06  1.64046539e-06 -2.92825767e+00\n",
      "  2.04496337e-01 -6.05548193e-02  4.59989795e-01  0.00000000e+00\n",
      " -1.57079633e+00  3.74552086e+00  3.28692180e-02  8.09806960e-02\n",
      "  4.60987877e-01  2.85451728e-04 -9.10422033e-07  1.80032240e+00] 24\n",
      "[ 0.21493264 -0.07733266  0.53150824  3.117985   -0.04847035  1.65486261\n",
      "  0.0799972  -0.38159363  1.13100506  1.62215528 -1.51412427 -1.1311305\n",
      "  1.5536714   0.29100155  1.        ] 15\n",
      "[ 0.21350764 -0.078665    0.52874544  3.11347506 -0.04186493  1.65825119\n",
      "  1.        ]\n",
      "episode_0555115.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554545.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.48543264e-02  3.45209541e-13  1.38695132e-19 -7.50711294e-05\n",
      "  0.00000000e+00  1.00000000e+00  3.74223222e-02 -1.01544055e-01\n",
      "  4.59990010e-01 -6.41939319e-11 -2.28189787e-11  1.68543845e+00\n",
      "  2.51752534e-01 -1.00275374e-01  3.62349999e-01  2.22893092e-12\n",
      " -1.13095932e-13  1.31319892e+00  1.48040739e-01 -9.08196359e-02\n",
      "  3.62349999e-01 -3.62597923e-13 -5.97208610e-14  1.42848667e+00] 24\n",
      "[ 0.26606256  0.00820314  0.59807532 -3.13191758 -0.16787332  1.54952503\n",
      "  0.0793578   0.09302391  1.1062998   1.4626283  -0.81233237 -1.04929411\n",
      "  1.46279184  0.18447071  1.        ] 15\n",
      "[ 0.26224713  0.00413733  0.60267854 -3.12272769 -0.16901447  1.55026305\n",
      "  1.        ]\n",
      "episode_0554545.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554600.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.48543264e-02  5.54818658e-13  6.45351671e-03 -7.50711294e-05\n",
      "  0.00000000e+00  0.00000000e+00  3.74223222e-02 -1.01544055e-01\n",
      "  4.59990010e-01 -6.41946319e-11 -2.28191739e-11  1.68543845e+00\n",
      "  2.51752534e-01 -1.00275374e-01  3.62349999e-01  2.90148034e-12\n",
      " -1.28725365e-13  1.31319892e+00  1.48040739e-01 -9.08196359e-02\n",
      "  3.62349999e-01 -3.36449113e-13  8.87037936e-15  1.42848667e+00] 24\n",
      "[-1.08359426e-01 -1.29821763e-01  4.94363855e-01  3.07549994e+00\n",
      " -5.06651614e-02  1.81415545e+00  2.02277322e-09 -9.05103466e-01\n",
      "  1.11860301e+00  2.03441575e+00 -2.56177339e+00 -1.01097567e+00\n",
      "  1.77373533e+00  7.02650666e-01 -1.00000000e+00] 15\n",
      "[-0.10740508 -0.12964987  0.50010653  3.07912057 -0.05965877  1.80845806\n",
      " -1.        ]\n",
      "episode_0554600.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554675.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  8.48422207e-13  1.25297007e-19 -7.50711294e-05\n",
      "  0.00000000e+00  0.00000000e+00  3.74223222e-02 -1.01544055e-01\n",
      "  4.59990010e-01 -6.41945532e-11 -2.28190411e-11  1.68543845e+00\n",
      "  2.51752534e-01 -1.00275374e-01  3.62349999e-01  2.31476842e-12\n",
      " -1.11911814e-13  1.31319892e+00  1.48040739e-01 -9.08196359e-02\n",
      "  3.62349999e-01 -3.53888535e-13 -5.01904362e-14  1.42848667e+00] 24\n",
      "[-0.21053837 -0.06630479  0.56062153  3.10874707 -0.14532792  1.78858736\n",
      "  0.07997741 -0.70598802  1.04812424  2.17881686 -2.48582765 -0.84451997\n",
      "  1.80350142  0.91946954  1.        ] 15\n",
      "[-0.19886933 -0.07421836  0.56193994  3.1269361  -0.13541138  1.76501616\n",
      "  1.        ]\n",
      "episode_0554675.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554422.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 1.71696036e-01 -4.72648602e-10  1.38695132e-19  8.80000000e-02\n",
      "  1.00000000e+00  1.00000000e+00  3.73961126e-02 -1.01540306e-01\n",
      "  4.59989689e-01  5.00548663e-06 -1.53580329e-05  1.68543258e+00\n",
      "  2.51752538e-01 -1.00275387e-01  3.62349989e-01  8.19874956e-07\n",
      " -1.07022568e-07  1.31320208e+00  1.48040731e-01 -9.08196184e-02\n",
      "  3.62349999e-01 -1.03535975e-08  9.11422426e-09  1.42848681e+00] 24\n",
      "[-0.13654106 -0.00614784  0.51715735  3.05208744 -0.01898703  1.29570343\n",
      "  0.04536285 -0.64180727  0.47334787  1.928023   -2.25534329 -0.59726676\n",
      "  2.0185323   1.09531956 -1.        ] 15\n",
      "[-0.12704749 -0.00622329  0.51717508  3.04888516 -0.02019045  1.2845382\n",
      " -1.        ]\n",
      "episode_0554422.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554125.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16597879e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  8.10042993e-03  1.54003395e-02\n",
      "  5.22572167e-01 -1.09598516e-02 -1.23135317e-01  1.55685549e+00\n",
      "  2.51938877e-01 -3.07642034e-01  3.62349999e-01  7.82934324e-09\n",
      " -2.64688762e-08  1.31016352e+00  1.48278270e-01 -2.99576649e-01\n",
      "  3.62349999e-01  2.26328773e-11 -8.48661908e-12  1.43071879e+00] 24\n",
      "[ 7.65973626e-03  1.97910376e-03  5.31183087e-01  3.09607044e+00\n",
      " -1.32934177e-01  1.62066288e+00  4.06489194e-02 -5.11059157e-01\n",
      "  7.93198745e-01  1.68124294e+00 -2.03085228e+00 -8.44986110e-01\n",
      "  1.95186944e+00  6.44873716e-01 -1.00000000e+00] 15\n",
      "[ 0.01220691  0.00980217  0.52485326  3.08602734 -0.1261439   1.6143975\n",
      " -1.        ]\n",
      "episode_0554125.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554640.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 4.28271088e-02  7.09169569e-13  1.48416373e-18 -7.50711294e-05\n",
      "  0.00000000e+00  0.00000000e+00  3.74223222e-02 -1.01544055e-01\n",
      "  4.59990010e-01 -6.41939237e-11 -2.28189580e-11  1.68543845e+00\n",
      "  2.51752534e-01 -1.00275374e-01  3.62349999e-01  2.32527921e-12\n",
      " -1.11590809e-13  1.31319892e+00  1.48040739e-01 -9.08196359e-02\n",
      "  3.62349999e-01 -3.54135969e-13 -4.91615415e-14  1.42848667e+00] 24\n",
      "[-2.14992449e-03 -1.00476315e-02  5.17247482e-01  3.07759206e+00\n",
      "  1.41884400e-02  1.55027446e+00  4.36087687e-02 -4.18840190e-01\n",
      "  8.39352495e-01  1.67205711e+00 -1.99070932e+00 -9.22442519e-01\n",
      "  1.76175050e+00  7.80766326e-01 -1.00000000e+00] 15\n",
      "[-0.00733837 -0.00967518  0.51693876  3.08299539  0.01712717  1.56155551\n",
      " -1.        ]\n",
      "episode_0554640.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0554122.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.16597878e-01  0.00000000e+00  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00 -8.94724346e-03 -7.37309693e-03\n",
      "  5.40866878e-01 -1.57343157e-02 -1.52674486e-01  1.58706300e+00\n",
      "  2.51938877e-01 -3.07642034e-01  3.62349999e-01  7.82910025e-09\n",
      " -2.64685322e-08  1.31016351e+00  1.48278270e-01 -2.99576649e-01\n",
      "  3.62349999e-01  2.26340787e-11 -8.48739677e-12  1.43071879e+00] 24\n",
      "[-0.00915442 -0.02103494  0.54928025  3.08866327 -0.16343046  1.65207515\n",
      "  0.04064324 -0.65246764  0.8172999   1.81106352 -2.12500939 -0.83680412\n",
      "  1.95284935  0.62849834 -1.        ] 15\n",
      "[-1.49912514e-03 -1.22868574e-02  5.41824914e-01  3.10014990e+00\n",
      " -1.49069404e-01  1.63254263e+00 -1.00000000e+00]\n",
      "episode_0554122.npz\n",
      "文件: data/calvin_debug_dataset/validation/episode_0555235.npz\n",
      "(200, 200, 3)\n",
      "(84, 84, 3)\n",
      "(200, 200)\n",
      "(84, 84)\n",
      "[ 2.80000000e-01  2.12195241e-01  1.25297007e-19  8.80000000e-02\n",
      "  1.00000000e+00  0.00000000e+00  9.04281448e-02 -8.73481796e-02\n",
      "  4.59989220e-01 -5.46311014e-05 -1.61822010e-06 -2.92822980e+00\n",
      "  2.01102726e-01 -2.94369064e-01  3.62349447e-01  0.00000000e+00\n",
      " -1.57079633e+00  3.47295602e+00  3.28566116e-02  8.09637701e-02\n",
      "  4.60988554e-01  9.39713729e-05 -3.57810771e-06  1.80016135e+00] 24\n",
      "[ 0.19193719 -0.21346146  0.56296558 -3.00563927  0.02512948  1.38454715\n",
      "  0.07999995 -0.70793151  1.02500932  1.69775159 -1.65248246 -0.90121758\n",
      "  1.43511137  0.41321763  1.        ] 15\n",
      "[ 0.19703092 -0.21052035  0.56784079 -3.03759756  0.00858099  1.3760237\n",
      "  1.        ]\n",
      "episode_0555235.npz\n"
     ]
    },
    {
     "ename": "KeyboardInterrupt",
     "evalue": "",
     "output_type": "error",
     "traceback": [
      "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
      "\u001b[0;31mKeyboardInterrupt\u001b[0m                         Traceback (most recent call last)",
      "Cell \u001b[0;32mIn[107], line 19\u001b[0m\n\u001b[1;32m     17\u001b[0m \u001b[38;5;28;01mif\u001b[39;00m element\u001b[38;5;241m.\u001b[39mis_file() \u001b[38;5;129;01mand\u001b[39;00m \u001b[38;5;28mstr\u001b[39m(element)\u001b[38;5;241m.\u001b[39mendswith(\u001b[38;5;124m'\u001b[39m\u001b[38;5;124m.npz\u001b[39m\u001b[38;5;124m'\u001b[39m):\n\u001b[1;32m     18\u001b[0m     \u001b[38;5;28mprint\u001b[39m(\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124m文件:\u001b[39m\u001b[38;5;124m\"\u001b[39m, element)\n\u001b[0;32m---> 19\u001b[0m     \u001b[43mdata_vis\u001b[49m\u001b[43m(\u001b[49m\u001b[43melement\u001b[49m\u001b[43m)\u001b[49m\n",
      "Cell \u001b[0;32mIn[106], line 33\u001b[0m, in \u001b[0;36mdata_vis\u001b[0;34m(file)\u001b[0m\n\u001b[1;32m     31\u001b[0m file_name \u001b[38;5;241m=\u001b[39m os\u001b[38;5;241m.\u001b[39mpath\u001b[38;5;241m.\u001b[39mbasename(file)\n\u001b[1;32m     32\u001b[0m \u001b[38;5;28mprint\u001b[39m(file_name)\n\u001b[0;32m---> 33\u001b[0m \u001b[43mplt\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43msavefig\u001b[49m\u001b[43m(\u001b[49m\u001b[38;5;124;43m'\u001b[39;49m\u001b[38;5;124;43m/home/zhangwei/Downloads/test/\u001b[39;49m\u001b[38;5;124;43m'\u001b[39;49m\u001b[43m \u001b[49m\u001b[38;5;241;43m+\u001b[39;49m\u001b[43m \u001b[49m\u001b[43mfile_name\u001b[49m\u001b[38;5;241;43m+\u001b[39;49m\u001b[38;5;124;43m\"\u001b[39;49m\u001b[38;5;124;43m.jpg\u001b[39;49m\u001b[38;5;124;43m\"\u001b[39;49m\u001b[43m)\u001b[49m\n",
      "File \u001b[0;32m~/anaconda3/envs/robotics_transformer/lib/python3.8/site-packages/matplotlib/pyplot.py:1023\u001b[0m, in \u001b[0;36msavefig\u001b[0;34m(*args, **kwargs)\u001b[0m\n\u001b[1;32m   1020\u001b[0m \u001b[38;5;129m@_copy_docstring_and_deprecators\u001b[39m(Figure\u001b[38;5;241m.\u001b[39msavefig)\n\u001b[1;32m   1021\u001b[0m \u001b[38;5;28;01mdef\u001b[39;00m \u001b[38;5;21msavefig\u001b[39m(\u001b[38;5;241m*\u001b[39margs, \u001b[38;5;241m*\u001b[39m\u001b[38;5;241m*\u001b[39mkwargs):\n\u001b[1;32m   1022\u001b[0m     fig \u001b[38;5;241m=\u001b[39m gcf()\n\u001b[0;32m-> 1023\u001b[0m     res \u001b[38;5;241m=\u001b[39m \u001b[43mfig\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43msavefig\u001b[49m\u001b[43m(\u001b[49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[43margs\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[43mkwargs\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m   1024\u001b[0m     fig\u001b[38;5;241m.\u001b[39mcanvas\u001b[38;5;241m.\u001b[39mdraw_idle()  \u001b[38;5;66;03m# Need this if 'transparent=True', to reset colors.\u001b[39;00m\n\u001b[1;32m   1025\u001b[0m     \u001b[38;5;28;01mreturn\u001b[39;00m res\n",
      "File \u001b[0;32m~/anaconda3/envs/robotics_transformer/lib/python3.8/site-packages/matplotlib/figure.py:3378\u001b[0m, in \u001b[0;36mFigure.savefig\u001b[0;34m(self, fname, transparent, **kwargs)\u001b[0m\n\u001b[1;32m   3374\u001b[0m     \u001b[38;5;28;01mfor\u001b[39;00m ax \u001b[38;5;129;01min\u001b[39;00m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39maxes:\n\u001b[1;32m   3375\u001b[0m         stack\u001b[38;5;241m.\u001b[39menter_context(\n\u001b[1;32m   3376\u001b[0m             ax\u001b[38;5;241m.\u001b[39mpatch\u001b[38;5;241m.\u001b[39m_cm_set(facecolor\u001b[38;5;241m=\u001b[39m\u001b[38;5;124m'\u001b[39m\u001b[38;5;124mnone\u001b[39m\u001b[38;5;124m'\u001b[39m, edgecolor\u001b[38;5;241m=\u001b[39m\u001b[38;5;124m'\u001b[39m\u001b[38;5;124mnone\u001b[39m\u001b[38;5;124m'\u001b[39m))\n\u001b[0;32m-> 3378\u001b[0m \u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mcanvas\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mprint_figure\u001b[49m\u001b[43m(\u001b[49m\u001b[43mfname\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[43mkwargs\u001b[49m\u001b[43m)\u001b[49m\n",
      "File \u001b[0;32m~/anaconda3/envs/robotics_transformer/lib/python3.8/site-packages/matplotlib/backend_bases.py:2366\u001b[0m, in \u001b[0;36mFigureCanvasBase.print_figure\u001b[0;34m(self, filename, dpi, facecolor, edgecolor, orientation, format, bbox_inches, pad_inches, bbox_extra_artists, backend, **kwargs)\u001b[0m\n\u001b[1;32m   2362\u001b[0m \u001b[38;5;28;01mtry\u001b[39;00m:\n\u001b[1;32m   2363\u001b[0m     \u001b[38;5;66;03m# _get_renderer may change the figure dpi (as vector formats\u001b[39;00m\n\u001b[1;32m   2364\u001b[0m     \u001b[38;5;66;03m# force the figure dpi to 72), so we need to set it again here.\u001b[39;00m\n\u001b[1;32m   2365\u001b[0m     \u001b[38;5;28;01mwith\u001b[39;00m cbook\u001b[38;5;241m.\u001b[39m_setattr_cm(\u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mfigure, dpi\u001b[38;5;241m=\u001b[39mdpi):\n\u001b[0;32m-> 2366\u001b[0m         result \u001b[38;5;241m=\u001b[39m \u001b[43mprint_method\u001b[49m\u001b[43m(\u001b[49m\n\u001b[1;32m   2367\u001b[0m \u001b[43m            \u001b[49m\u001b[43mfilename\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m   2368\u001b[0m \u001b[43m            \u001b[49m\u001b[43mfacecolor\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43mfacecolor\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m   2369\u001b[0m \u001b[43m            \u001b[49m\u001b[43medgecolor\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43medgecolor\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m   2370\u001b[0m \u001b[43m            \u001b[49m\u001b[43morientation\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43morientation\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m   2371\u001b[0m \u001b[43m            \u001b[49m\u001b[43mbbox_inches_restore\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43m_bbox_inches_restore\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m   2372\u001b[0m \u001b[43m            \u001b[49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[43mkwargs\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m   2373\u001b[0m \u001b[38;5;28;01mfinally\u001b[39;00m:\n\u001b[1;32m   2374\u001b[0m     \u001b[38;5;28;01mif\u001b[39;00m bbox_inches \u001b[38;5;129;01mand\u001b[39;00m restore_bbox:\n",
      "File \u001b[0;32m~/anaconda3/envs/robotics_transformer/lib/python3.8/site-packages/matplotlib/backend_bases.py:2232\u001b[0m, in \u001b[0;36mFigureCanvasBase._switch_canvas_and_return_print_method.<locals>.<lambda>\u001b[0;34m(*args, **kwargs)\u001b[0m\n\u001b[1;32m   2228\u001b[0m     optional_kws \u001b[38;5;241m=\u001b[39m {  \u001b[38;5;66;03m# Passed by print_figure for other renderers.\u001b[39;00m\n\u001b[1;32m   2229\u001b[0m         \u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mdpi\u001b[39m\u001b[38;5;124m\"\u001b[39m, \u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mfacecolor\u001b[39m\u001b[38;5;124m\"\u001b[39m, \u001b[38;5;124m\"\u001b[39m\u001b[38;5;124medgecolor\u001b[39m\u001b[38;5;124m\"\u001b[39m, \u001b[38;5;124m\"\u001b[39m\u001b[38;5;124morientation\u001b[39m\u001b[38;5;124m\"\u001b[39m,\n\u001b[1;32m   2230\u001b[0m         \u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mbbox_inches_restore\u001b[39m\u001b[38;5;124m\"\u001b[39m}\n\u001b[1;32m   2231\u001b[0m     skip \u001b[38;5;241m=\u001b[39m optional_kws \u001b[38;5;241m-\u001b[39m {\u001b[38;5;241m*\u001b[39minspect\u001b[38;5;241m.\u001b[39msignature(meth)\u001b[38;5;241m.\u001b[39mparameters}\n\u001b[0;32m-> 2232\u001b[0m     print_method \u001b[38;5;241m=\u001b[39m functools\u001b[38;5;241m.\u001b[39mwraps(meth)(\u001b[38;5;28;01mlambda\u001b[39;00m \u001b[38;5;241m*\u001b[39margs, \u001b[38;5;241m*\u001b[39m\u001b[38;5;241m*\u001b[39mkwargs: \u001b[43mmeth\u001b[49m\u001b[43m(\u001b[49m\n\u001b[1;32m   2233\u001b[0m \u001b[43m        \u001b[49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[43margs\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[43m{\u001b[49m\u001b[43mk\u001b[49m\u001b[43m:\u001b[49m\u001b[43m \u001b[49m\u001b[43mv\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;28;43;01mfor\u001b[39;49;00m\u001b[43m \u001b[49m\u001b[43mk\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mv\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;129;43;01min\u001b[39;49;00m\u001b[43m \u001b[49m\u001b[43mkwargs\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mitems\u001b[49m\u001b[43m(\u001b[49m\u001b[43m)\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;28;43;01mif\u001b[39;49;00m\u001b[43m \u001b[49m\u001b[43mk\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;129;43;01mnot\u001b[39;49;00m\u001b[43m \u001b[49m\u001b[38;5;129;43;01min\u001b[39;49;00m\u001b[43m \u001b[49m\u001b[43mskip\u001b[49m\u001b[43m}\u001b[49m\u001b[43m)\u001b[49m)\n\u001b[1;32m   2234\u001b[0m \u001b[38;5;28;01melse\u001b[39;00m:  \u001b[38;5;66;03m# Let third-parties do as they see fit.\u001b[39;00m\n\u001b[1;32m   2235\u001b[0m     print_method \u001b[38;5;241m=\u001b[39m meth\n",
      "File \u001b[0;32m~/anaconda3/envs/robotics_transformer/lib/python3.8/site-packages/matplotlib/backends/backend_agg.py:526\u001b[0m, in \u001b[0;36mFigureCanvasAgg.print_jpg\u001b[0;34m(self, filename_or_obj, pil_kwargs)\u001b[0m\n\u001b[1;32m    521\u001b[0m \u001b[38;5;28;01mdef\u001b[39;00m \u001b[38;5;21mprint_jpg\u001b[39m(\u001b[38;5;28mself\u001b[39m, filename_or_obj, \u001b[38;5;241m*\u001b[39m, pil_kwargs\u001b[38;5;241m=\u001b[39m\u001b[38;5;28;01mNone\u001b[39;00m):\n\u001b[1;32m    522\u001b[0m     \u001b[38;5;66;03m# savefig() has already applied savefig.facecolor; we now set it to\u001b[39;00m\n\u001b[1;32m    523\u001b[0m     \u001b[38;5;66;03m# white to make imsave() blend semi-transparent figures against an\u001b[39;00m\n\u001b[1;32m    524\u001b[0m     \u001b[38;5;66;03m# assumed white background.\u001b[39;00m\n\u001b[1;32m    525\u001b[0m     \u001b[38;5;28;01mwith\u001b[39;00m mpl\u001b[38;5;241m.\u001b[39mrc_context({\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124msavefig.facecolor\u001b[39m\u001b[38;5;124m\"\u001b[39m: \u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mwhite\u001b[39m\u001b[38;5;124m\"\u001b[39m}):\n\u001b[0;32m--> 526\u001b[0m         \u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43m_print_pil\u001b[49m\u001b[43m(\u001b[49m\u001b[43mfilename_or_obj\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;124;43m\"\u001b[39;49m\u001b[38;5;124;43mjpeg\u001b[39;49m\u001b[38;5;124;43m\"\u001b[39;49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mpil_kwargs\u001b[49m\u001b[43m)\u001b[49m\n",
      "File \u001b[0;32m~/anaconda3/envs/robotics_transformer/lib/python3.8/site-packages/matplotlib/backends/backend_agg.py:457\u001b[0m, in \u001b[0;36mFigureCanvasAgg._print_pil\u001b[0;34m(self, filename_or_obj, fmt, pil_kwargs, metadata)\u001b[0m\n\u001b[1;32m    452\u001b[0m \u001b[38;5;28;01mdef\u001b[39;00m \u001b[38;5;21m_print_pil\u001b[39m(\u001b[38;5;28mself\u001b[39m, filename_or_obj, fmt, pil_kwargs, metadata\u001b[38;5;241m=\u001b[39m\u001b[38;5;28;01mNone\u001b[39;00m):\n\u001b[1;32m    453\u001b[0m \u001b[38;5;250m    \u001b[39m\u001b[38;5;124;03m\"\"\"\u001b[39;00m\n\u001b[1;32m    454\u001b[0m \u001b[38;5;124;03m    Draw the canvas, then save it using `.image.imsave` (to which\u001b[39;00m\n\u001b[1;32m    455\u001b[0m \u001b[38;5;124;03m    *pil_kwargs* and *metadata* are forwarded).\u001b[39;00m\n\u001b[1;32m    456\u001b[0m \u001b[38;5;124;03m    \"\"\"\u001b[39;00m\n\u001b[0;32m--> 457\u001b[0m     \u001b[43mFigureCanvasAgg\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mdraw\u001b[49m\u001b[43m(\u001b[49m\u001b[38;5;28;43mself\u001b[39;49m\u001b[43m)\u001b[49m\n\u001b[1;32m    458\u001b[0m     mpl\u001b[38;5;241m.\u001b[39mimage\u001b[38;5;241m.\u001b[39mimsave(\n\u001b[1;32m    459\u001b[0m         filename_or_obj, \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mbuffer_rgba(), \u001b[38;5;28mformat\u001b[39m\u001b[38;5;241m=\u001b[39mfmt, origin\u001b[38;5;241m=\u001b[39m\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mupper\u001b[39m\u001b[38;5;124m\"\u001b[39m,\n\u001b[1;32m    460\u001b[0m         dpi\u001b[38;5;241m=\u001b[39m\u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mfigure\u001b[38;5;241m.\u001b[39mdpi, metadata\u001b[38;5;241m=\u001b[39mmetadata, pil_kwargs\u001b[38;5;241m=\u001b[39mpil_kwargs)\n",
      "File \u001b[0;32m~/anaconda3/envs/robotics_transformer/lib/python3.8/site-packages/matplotlib/backends/backend_agg.py:400\u001b[0m, in \u001b[0;36mFigureCanvasAgg.draw\u001b[0;34m(self)\u001b[0m\n\u001b[1;32m    396\u001b[0m \u001b[38;5;66;03m# Acquire a lock on the shared font cache.\u001b[39;00m\n\u001b[1;32m    397\u001b[0m \u001b[38;5;28;01mwith\u001b[39;00m RendererAgg\u001b[38;5;241m.\u001b[39mlock, \\\n\u001b[1;32m    398\u001b[0m      (\u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mtoolbar\u001b[38;5;241m.\u001b[39m_wait_cursor_for_draw_cm() \u001b[38;5;28;01mif\u001b[39;00m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mtoolbar\n\u001b[1;32m    399\u001b[0m       \u001b[38;5;28;01melse\u001b[39;00m nullcontext()):\n\u001b[0;32m--> 400\u001b[0m     \u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mfigure\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mdraw\u001b[49m\u001b[43m(\u001b[49m\u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mrenderer\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m    401\u001b[0m     \u001b[38;5;66;03m# A GUI class may be need to update a window using this draw, so\u001b[39;00m\n\u001b[1;32m    402\u001b[0m     \u001b[38;5;66;03m# don't forget to call the superclass.\u001b[39;00m\n\u001b[1;32m    403\u001b[0m     \u001b[38;5;28msuper\u001b[39m()\u001b[38;5;241m.\u001b[39mdraw()\n",
      "File \u001b[0;32m~/anaconda3/envs/robotics_transformer/lib/python3.8/site-packages/matplotlib/artist.py:95\u001b[0m, in \u001b[0;36m_finalize_rasterization.<locals>.draw_wrapper\u001b[0;34m(artist, renderer, *args, **kwargs)\u001b[0m\n\u001b[1;32m     93\u001b[0m \u001b[38;5;129m@wraps\u001b[39m(draw)\n\u001b[1;32m     94\u001b[0m \u001b[38;5;28;01mdef\u001b[39;00m \u001b[38;5;21mdraw_wrapper\u001b[39m(artist, renderer, \u001b[38;5;241m*\u001b[39margs, \u001b[38;5;241m*\u001b[39m\u001b[38;5;241m*\u001b[39mkwargs):\n\u001b[0;32m---> 95\u001b[0m     result \u001b[38;5;241m=\u001b[39m \u001b[43mdraw\u001b[49m\u001b[43m(\u001b[49m\u001b[43martist\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mrenderer\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[43margs\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[43mkwargs\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m     96\u001b[0m     \u001b[38;5;28;01mif\u001b[39;00m renderer\u001b[38;5;241m.\u001b[39m_rasterizing:\n\u001b[1;32m     97\u001b[0m         renderer\u001b[38;5;241m.\u001b[39mstop_rasterizing()\n",
      "File \u001b[0;32m~/anaconda3/envs/robotics_transformer/lib/python3.8/site-packages/matplotlib/artist.py:72\u001b[0m, in \u001b[0;36mallow_rasterization.<locals>.draw_wrapper\u001b[0;34m(artist, renderer)\u001b[0m\n\u001b[1;32m     69\u001b[0m     \u001b[38;5;28;01mif\u001b[39;00m artist\u001b[38;5;241m.\u001b[39mget_agg_filter() \u001b[38;5;129;01mis\u001b[39;00m \u001b[38;5;129;01mnot\u001b[39;00m \u001b[38;5;28;01mNone\u001b[39;00m:\n\u001b[1;32m     70\u001b[0m         renderer\u001b[38;5;241m.\u001b[39mstart_filter()\n\u001b[0;32m---> 72\u001b[0m     \u001b[38;5;28;01mreturn\u001b[39;00m \u001b[43mdraw\u001b[49m\u001b[43m(\u001b[49m\u001b[43martist\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mrenderer\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m     73\u001b[0m \u001b[38;5;28;01mfinally\u001b[39;00m:\n\u001b[1;32m     74\u001b[0m     \u001b[38;5;28;01mif\u001b[39;00m artist\u001b[38;5;241m.\u001b[39mget_agg_filter() \u001b[38;5;129;01mis\u001b[39;00m \u001b[38;5;129;01mnot\u001b[39;00m \u001b[38;5;28;01mNone\u001b[39;00m:\n",
      "File \u001b[0;32m~/anaconda3/envs/robotics_transformer/lib/python3.8/site-packages/matplotlib/figure.py:3175\u001b[0m, in \u001b[0;36mFigure.draw\u001b[0;34m(self, renderer)\u001b[0m\n\u001b[1;32m   3172\u001b[0m         \u001b[38;5;66;03m# ValueError can occur when resizing a window.\u001b[39;00m\n\u001b[1;32m   3174\u001b[0m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mpatch\u001b[38;5;241m.\u001b[39mdraw(renderer)\n\u001b[0;32m-> 3175\u001b[0m \u001b[43mmimage\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43m_draw_list_compositing_images\u001b[49m\u001b[43m(\u001b[49m\n\u001b[1;32m   3176\u001b[0m \u001b[43m    \u001b[49m\u001b[43mrenderer\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;28;43mself\u001b[39;49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43martists\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43msuppressComposite\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m   3178\u001b[0m \u001b[38;5;28;01mfor\u001b[39;00m sfig \u001b[38;5;129;01min\u001b[39;00m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39msubfigs:\n\u001b[1;32m   3179\u001b[0m     sfig\u001b[38;5;241m.\u001b[39mdraw(renderer)\n",
      "File \u001b[0;32m~/anaconda3/envs/robotics_transformer/lib/python3.8/site-packages/matplotlib/image.py:131\u001b[0m, in \u001b[0;36m_draw_list_compositing_images\u001b[0;34m(renderer, parent, artists, suppress_composite)\u001b[0m\n\u001b[1;32m    129\u001b[0m \u001b[38;5;28;01mif\u001b[39;00m not_composite \u001b[38;5;129;01mor\u001b[39;00m \u001b[38;5;129;01mnot\u001b[39;00m has_images:\n\u001b[1;32m    130\u001b[0m     \u001b[38;5;28;01mfor\u001b[39;00m a \u001b[38;5;129;01min\u001b[39;00m artists:\n\u001b[0;32m--> 131\u001b[0m         \u001b[43ma\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mdraw\u001b[49m\u001b[43m(\u001b[49m\u001b[43mrenderer\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m    132\u001b[0m \u001b[38;5;28;01melse\u001b[39;00m:\n\u001b[1;32m    133\u001b[0m     \u001b[38;5;66;03m# Composite any adjacent images together\u001b[39;00m\n\u001b[1;32m    134\u001b[0m     image_group \u001b[38;5;241m=\u001b[39m []\n",
      "File \u001b[0;32m~/anaconda3/envs/robotics_transformer/lib/python3.8/site-packages/matplotlib/artist.py:72\u001b[0m, in \u001b[0;36mallow_rasterization.<locals>.draw_wrapper\u001b[0;34m(artist, renderer)\u001b[0m\n\u001b[1;32m     69\u001b[0m     \u001b[38;5;28;01mif\u001b[39;00m artist\u001b[38;5;241m.\u001b[39mget_agg_filter() \u001b[38;5;129;01mis\u001b[39;00m \u001b[38;5;129;01mnot\u001b[39;00m \u001b[38;5;28;01mNone\u001b[39;00m:\n\u001b[1;32m     70\u001b[0m         renderer\u001b[38;5;241m.\u001b[39mstart_filter()\n\u001b[0;32m---> 72\u001b[0m     \u001b[38;5;28;01mreturn\u001b[39;00m \u001b[43mdraw\u001b[49m\u001b[43m(\u001b[49m\u001b[43martist\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mrenderer\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m     73\u001b[0m \u001b[38;5;28;01mfinally\u001b[39;00m:\n\u001b[1;32m     74\u001b[0m     \u001b[38;5;28;01mif\u001b[39;00m artist\u001b[38;5;241m.\u001b[39mget_agg_filter() \u001b[38;5;129;01mis\u001b[39;00m \u001b[38;5;129;01mnot\u001b[39;00m \u001b[38;5;28;01mNone\u001b[39;00m:\n",
      "File \u001b[0;32m~/anaconda3/envs/robotics_transformer/lib/python3.8/site-packages/matplotlib/axes/_base.py:3064\u001b[0m, in \u001b[0;36m_AxesBase.draw\u001b[0;34m(self, renderer)\u001b[0m\n\u001b[1;32m   3061\u001b[0m \u001b[38;5;28;01mif\u001b[39;00m artists_rasterized:\n\u001b[1;32m   3062\u001b[0m     _draw_rasterized(\u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mfigure, artists_rasterized, renderer)\n\u001b[0;32m-> 3064\u001b[0m \u001b[43mmimage\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43m_draw_list_compositing_images\u001b[49m\u001b[43m(\u001b[49m\n\u001b[1;32m   3065\u001b[0m \u001b[43m    \u001b[49m\u001b[43mrenderer\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;28;43mself\u001b[39;49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43martists\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mfigure\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43msuppressComposite\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m   3067\u001b[0m renderer\u001b[38;5;241m.\u001b[39mclose_group(\u001b[38;5;124m'\u001b[39m\u001b[38;5;124maxes\u001b[39m\u001b[38;5;124m'\u001b[39m)\n\u001b[1;32m   3068\u001b[0m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mstale \u001b[38;5;241m=\u001b[39m \u001b[38;5;28;01mFalse\u001b[39;00m\n",
      "File \u001b[0;32m~/anaconda3/envs/robotics_transformer/lib/python3.8/site-packages/matplotlib/image.py:131\u001b[0m, in \u001b[0;36m_draw_list_compositing_images\u001b[0;34m(renderer, parent, artists, suppress_composite)\u001b[0m\n\u001b[1;32m    129\u001b[0m \u001b[38;5;28;01mif\u001b[39;00m not_composite \u001b[38;5;129;01mor\u001b[39;00m \u001b[38;5;129;01mnot\u001b[39;00m has_images:\n\u001b[1;32m    130\u001b[0m     \u001b[38;5;28;01mfor\u001b[39;00m a \u001b[38;5;129;01min\u001b[39;00m artists:\n\u001b[0;32m--> 131\u001b[0m         \u001b[43ma\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mdraw\u001b[49m\u001b[43m(\u001b[49m\u001b[43mrenderer\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m    132\u001b[0m \u001b[38;5;28;01melse\u001b[39;00m:\n\u001b[1;32m    133\u001b[0m     \u001b[38;5;66;03m# Composite any adjacent images together\u001b[39;00m\n\u001b[1;32m    134\u001b[0m     image_group \u001b[38;5;241m=\u001b[39m []\n",
      "File \u001b[0;32m~/anaconda3/envs/robotics_transformer/lib/python3.8/site-packages/matplotlib/artist.py:72\u001b[0m, in \u001b[0;36mallow_rasterization.<locals>.draw_wrapper\u001b[0;34m(artist, renderer)\u001b[0m\n\u001b[1;32m     69\u001b[0m     \u001b[38;5;28;01mif\u001b[39;00m artist\u001b[38;5;241m.\u001b[39mget_agg_filter() \u001b[38;5;129;01mis\u001b[39;00m \u001b[38;5;129;01mnot\u001b[39;00m \u001b[38;5;28;01mNone\u001b[39;00m:\n\u001b[1;32m     70\u001b[0m         renderer\u001b[38;5;241m.\u001b[39mstart_filter()\n\u001b[0;32m---> 72\u001b[0m     \u001b[38;5;28;01mreturn\u001b[39;00m \u001b[43mdraw\u001b[49m\u001b[43m(\u001b[49m\u001b[43martist\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mrenderer\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m     73\u001b[0m \u001b[38;5;28;01mfinally\u001b[39;00m:\n\u001b[1;32m     74\u001b[0m     \u001b[38;5;28;01mif\u001b[39;00m artist\u001b[38;5;241m.\u001b[39mget_agg_filter() \u001b[38;5;129;01mis\u001b[39;00m \u001b[38;5;129;01mnot\u001b[39;00m \u001b[38;5;28;01mNone\u001b[39;00m:\n",
      "File \u001b[0;32m~/anaconda3/envs/robotics_transformer/lib/python3.8/site-packages/matplotlib/image.py:644\u001b[0m, in \u001b[0;36m_ImageBase.draw\u001b[0;34m(self, renderer, *args, **kwargs)\u001b[0m\n\u001b[1;32m    641\u001b[0m     im, l, b, trans \u001b[38;5;241m=\u001b[39m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mmake_image(\n\u001b[1;32m    642\u001b[0m         renderer, renderer\u001b[38;5;241m.\u001b[39mget_image_magnification())\n\u001b[1;32m    643\u001b[0m     \u001b[38;5;28;01mif\u001b[39;00m im \u001b[38;5;129;01mis\u001b[39;00m \u001b[38;5;129;01mnot\u001b[39;00m \u001b[38;5;28;01mNone\u001b[39;00m:\n\u001b[0;32m--> 644\u001b[0m         \u001b[43mrenderer\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mdraw_image\u001b[49m\u001b[43m(\u001b[49m\u001b[43mgc\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43ml\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mb\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mim\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m    645\u001b[0m gc\u001b[38;5;241m.\u001b[39mrestore()\n\u001b[1;32m    646\u001b[0m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mstale \u001b[38;5;241m=\u001b[39m \u001b[38;5;28;01mFalse\u001b[39;00m\n",
      "\u001b[0;31mKeyboardInterrupt\u001b[0m: "
     ]
    },
    {
     "data": {
      "image/png": "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",
      "text/plain": [
       "<Figure size 640x480 with 4 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "\n",
    "from pathlib import Path\n",
    "path ='data/calvin_debug_dataset/validation'\n",
    "# 定义文件夹路径\n",
    "folder_path = Path(path)\n",
    "# 遍历文件夹中的内容（不包括子文件夹）\n",
    "for element in folder_path.iterdir():\n",
    "    if element.is_file() and str(element).endswith('.npz'):\n",
    "        print(\"文件:\", element)\n",
    "        data_vis(element)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 101,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "episode_0553567.npz\n"
     ]
    }
   ],
   "source": [
    "file = 'data/calvin_debug_dataset/validation/episode_0553567.npz'\n",
    "file_name = os.path.basename(file)\n",
    "print(file_name)\n"
   ]
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "robotics_transformer",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.8.19"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 2
}
